00001 /* 00002 * Copyright (c) 2008, Maxim Likhachev 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the University of Pennsylvania nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 #ifndef __CONFIG_H_ 00030 #define __CONFIG_H_ 00031 00032 00035 #define USE_HEUR 1 00036 00039 #define MEM_CHECK 0 00040 00043 #define DEBUG 0 00044 00047 #define TIME_DEBUG 0 00048 00051 #define ERR_EPS 0.0000001 00052 00053 //Macros for compiling with an without ROS 00054 #ifdef ROS 00055 #include <ros/ros.h> 00056 00057 #define SBPL_DEBUG ROS_DEBUG 00058 #define SBPL_DEBUG_NAMED(a,...) ROS_DEBUG_NAMED("SBPL_" #a,__VA_ARGS__) 00059 #define SBPL_INFO ROS_INFO 00060 #define SBPL_WARN ROS_WARN 00061 #define SBPL_ERROR ROS_ERROR 00062 #define SBPL_FATAL ROS_FATAL 00063 00064 #define SBPL_FOPEN(...) (FILE*)1 00065 #define SBPL_FCLOSE(...) 00066 #define SBPL_PRINTF ROS_DEBUG 00067 #define SBPL_FPRINTF(a,...) ROS_DEBUG_NAMED("SBPL_" #a,__VA_ARGS__) 00068 #define SBPL_FFLUSH(...) 00069 #else 00070 #define SBPL_DEBUG printf 00071 #define SBPL_DEBUG_NAMED fprintf 00072 #define SBPL_INFO printf 00073 #define SBPL_WARN printf 00074 #define SBPL_ERROR printf 00075 #define SBPL_FATAL printf 00076 00077 #define SBPL_FOPEN fopen 00078 #define SBPL_FCLOSE fclose 00079 #define SBPL_PRINTF printf 00080 #define SBPL_FPRINTF fprintf 00081 #define SBPL_FFLUSH fflush 00082 #endif 00083 00084 #endif 00085
