00001 /* 00002 * Copyright 2018, Sebastian Pütz 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions 00006 * are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 00016 * 3. Neither the name of the copyright holder nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 * 00033 * abstract_planner.h 00034 * 00035 * author: Jannik Abbenseth <jba@ipa.fhg.de> 00036 * 00037 */ 00038 00039 #ifndef MBF_ABSTRACT_CORE__TYPES_H_ 00040 #define MBF_ABSTRACT_CORE__TYPES_H_ 00041 00042 #include <boost/shared_ptr.hpp> 00043 00044 #if ROS_VERSION_MINIMUM(1, 14, 0) // if current ros version is >= 1.14.0 00045 // Melodic uses TF2 00046 #include <tf2_ros/buffer.h> 00047 typedef boost::shared_ptr<tf2_ros::Buffer> TFPtr; 00048 typedef tf2_ros::Buffer TF; 00049 typedef tf2::TransformException TFException; 00050 #else 00051 // Previous versions still using TF 00052 #define USE_OLD_TF 00053 #include <tf/transform_listener.h> 00054 typedef boost::shared_ptr<tf::TransformListener> TFPtr; 00055 typedef tf::TransformListener TF; 00056 typedef tf::TransformException TFException; 00057 #endif 00058 00059 #endif