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* Software License Agreement (BSD License)
*
*  Copyright (c) 2016, CITEC, Bielefeld University
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/* Robert Haschke */

#ifndef URDF_URDFDOM_COMPATIBILITY_
#define URDF_URDFDOM_COMPATIBILITY_

#define URDFDOM_HEADERS_MAJOR_VERSION @URDFDOM_HEADERS_MAJOR_VERSION@
#define URDFDOM_HEADERS_MINOR_VERSION @URDFDOM_HEADERS_MINOR_VERSION@
#define URDFDOM_HEADERS_REVISION_VERSION @URDFDOM_HEADERS_REVISION_VERSION@

// for Wily: maintain compatibility between urdfdom 0.3 and 0.4 (definining SharedPtr types)
#if URDFDOM_HEADERS_MAJOR_VERSION == 0 && URDFDOM_HEADERS_MINOR_VERSION <= 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

#include <urdf_model/types.h>
#include <urdf_world/types.h>

namespace urdf {
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_