Is it possible to convert a Rcpp::List to std::vector?

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I would like to use a Rcpp::List in a parallel code. Rcpp::List are not thread safe. Is it possible to convert a Rcpp::List to a std::vector or another C++ object?

For example, I would like to convert a Rcpp::List which has, as first element, a NumericMatrix and has, as second element, a NumericVector, to a std::vector. Is it possible?

I am expecting a yes/no answer or a simple example.

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