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