kdlTypekit.cpp

Go to the documentation of this file.

/******************************************************************************
*                   This file is part of the KDL project                      *
*                                                                             *
*                     (C) 2010 Ruben Smits                                    *
*                         2010 Steven Bellens                                 *
*                     ruben.smits@mech.kuleuven.be                            *
*                     steven.bellens@mech.kuleuven.be                         *
*                    Department of Mechanical Engineering,                    *
*                   Katholieke Universiteit Leuven, Belgium.                  *
*                                                                             *
*       You may redistribute this software and/or modify it under either the  *
*       terms of the GNU Lesser General Public License version 2.1 (LGPLv2.1  *
*       <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>) or (at your *
*       discretion) of the Modified BSD License:                              *
*       Redistribution and use in source and binary forms, with or without    *
*       modification, are permitted provided that the following conditions    *
*       are met:                                                              *
*       1. Redistributions of source code must retain the above copyright     *
*       notice, this list of conditions and the following disclaimer.         *
*       2. 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.  *
*       3. The name of the author may not be used to endorse or promote       *
*       products derived from this software without specific prior written    *
*       permission.                                                           *
*       THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.                                           *
*                                                                             *
*******************************************************************************/

#include "kdlTypekit.hpp"

namespace KDL
{
  using namespace RTT;
  using namespace RTT::detail;
  using namespace std;

  KDLTypekitPlugin KDLTypekit;

  void loadChainTypes();
  void loadFrameTypes();
  void loadJacobianTypes();
  void loadJntArrayTypes();
  void loadJointTypes();
  void loadRotationTypes();
  void loadSegmentTypes();
  void loadTwistTypes();
  void loadVectorTypes();
  void loadWrenchTypes();

  std::string KDLTypekitPlugin::getName()
  {
    return "KDL";
  }

  bool KDLTypekitPlugin::loadTypes()
  {
    loadChainTypes();
    loadFrameTypes();
    loadJacobianTypes();
    loadJntArrayTypes();
    loadJointTypes();
    loadRotationTypes();
    loadSegmentTypes();
    loadTwistTypes();
    loadVectorTypes();
    loadWrenchTypes();

    return true;
  }
}
ORO_TYPEKIT_PLUGIN(KDL::KDLTypekitPlugin)