00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds 00002 // Copyright (C) 2010 G. Grisetti, R. Kümmerle, C. Stachniss 00003 // 00004 // HOG-Man is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // HOG-Man is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #ifndef _OS_SPECIFIC_HH_ 00018 #define _OS_SPECIFIC_HH_ 00019 00020 //defines drand48 and getCurrentTime 00021 00022 #ifdef WINDOWS 00023 #include <stdio.h> 00024 #include <stdlib.h> 00025 #include <stdarg.h> 00026 #include <sys/time.h> 00027 typedef unsigned int uint; 00028 #define drand48() ((double) rand()/(double)RAND_MAX) 00029 00030 #ifdef __cplusplus 00031 extern "C" { 00032 #endif 00033 00034 int vasprintf(char** strp, const char* fmt, va_list ap); 00035 00036 #ifdef __cplusplus 00037 } 00038 #endif 00039 00040 #endif 00041 00042 #ifdef LINUX 00043 #include <sys/time.h> 00044 // nothing to do on real operating systems 00045 #endif 00046 00047 #endif