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provide urdf_compatibility.h to define SharedPtr types (#160) 

* provide urdf_compatibility.h to define SharedPtr types

* create exported include directory

* include compatibility header in model.h
This commit is contained in:
Robert Haschke 2016-10-27 22:49:53 +02:00 committed by William Woodall
parent 1bc266932f
commit f5a3b8048c
3 changed files with 99 additions and 1 deletions
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15
urdf/CMakeLists.txt
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@ -10,12 +10,25 @@ find_package(catkin REQUIRED COMPONENTS
find_package(TinyXML REQUIRED)
if("${urdfdom_headers_VERSION}" VERSION_LESS "1.0")
# for Wily: maintain compatibility between urdfdom 0.3 and 0.4 (definining SharedPtr types)
set(URDFDOM_DECLARE_TYPES 1)
else()
# declare ModelInterface's SharedPtr
set(URDFDOM_DECLARE_TYPES 0)
endif()
set(generated_compat_header "${CATKIN_DEVEL_PREFIX}/include/${PROJECT_NAME}/urdfdom_compatibility.h")
include_directories("${CATKIN_DEVEL_PREFIX}/include")
configure_file(urdfdom_compatibility.h.in "${generated_compat_header}" @ONLY)
catkin_package(
LIBRARIES ${PROJECT_NAME}
INCLUDE_DIRS include ${TinyXML_INLCLUDE_DIRS}
INCLUDE_DIRS include ${TinyXML_INLCLUDE_DIRS} ${CATKIN_DEVEL_PREFIX}/include
CATKIN_DEPENDS rosconsole_bridge roscpp
DEPENDS urdfdom_headers urdfdom Boost
)
install(FILES ${generated_compat_header} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
include_directories(
include

1
urdf/include/urdf/model.h
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@ -40,6 +40,7 @@
#include <string>
#include <map>
#include <urdf_model/model.h>
#include <urdf/urdfdom_compatibility.h>
#include <tinyxml.h>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>

84
urdf/urdfdom_compatibility.h.in Normal file
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@ -0,0 +1,84 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2016, CITEC, Bielefeld University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Robert Haschke */
#ifndef URDF_URDFDOM_COMPATIBILITY_
#define URDF_URDFDOM_COMPATIBILITY_
#if @URDFDOM_DECLARE_TYPES@ // This is needed for urdfdom <= 0.4
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#define URDF_TYPEDEF_CLASS_POINTER(Class) \
class Class; \
typedef boost::shared_ptr<Class> Class##SharedPtr; \
typedef boost::shared_ptr<const Class> Class##ConstSharedPtr; \
typedef boost::weak_ptr<Class> Class##WeakPtr
namespace urdf {
URDF_TYPEDEF_CLASS_POINTER(Box);
URDF_TYPEDEF_CLASS_POINTER(Collision);
URDF_TYPEDEF_CLASS_POINTER(Cylinder);
URDF_TYPEDEF_CLASS_POINTER(Geometry);
URDF_TYPEDEF_CLASS_POINTER(Inertial);
URDF_TYPEDEF_CLASS_POINTER(Joint);
URDF_TYPEDEF_CLASS_POINTER(JointCalibration);
URDF_TYPEDEF_CLASS_POINTER(JointDynamics);
URDF_TYPEDEF_CLASS_POINTER(JointLimits);
URDF_TYPEDEF_CLASS_POINTER(JointMimic);
URDF_TYPEDEF_CLASS_POINTER(JointSafety);
URDF_TYPEDEF_CLASS_POINTER(Link);
URDF_TYPEDEF_CLASS_POINTER(Material);
URDF_TYPEDEF_CLASS_POINTER(Mesh);
URDF_TYPEDEF_CLASS_POINTER(Sphere);
URDF_TYPEDEF_CLASS_POINTER(Visual);
URDF_TYPEDEF_CLASS_POINTER(ModelInterface);
}
#undef URDF_TYPEDEF_CLASS_POINTER
#else // urdfdom <= 0.4
typedef std::shared_ptr<ModelInterface> ModelInterfaceSharedPtr;
typedef std::shared_ptr<const ModelInterface> ModelInterfaceConstSharedPtr;
typedef std::weak_ptr<ModelInterface> ModelInterfaceWeakPtr;
#endif // urdfdom > 0.4
#endif // URDF_URDFDOM_COMPATIBILITY_