The pimpl allows you to decouple the interface of your class from its implementation. On top of that, the implementation is not permanently bound to the interface. Any compile time dependencies are completely eliminated with the pimpl. This frees you from the fear to make changes to the implementation.
So use the pimpl when you want to hide the implementation details of your class. Before you do, however, make certain that you understand the performance penalties involved.
[Sutter] Exceptional C++ item 26~30.
[Gamma et all] Design Patterns – Bridge.
[Meyers] More Effective C++ item 11.
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