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00031 #ifndef URDF_TRAVERSER_TYPES_H
00032 #define URDF_TRAVERSER_TYPES_H
00033
00034 #include <Eigen/Core>
00035 #include <Eigen/Geometry>
00036
00037 #include <urdf/model.h>
00038 #include <urdf_model/link.h>
00039 #include <urdf_model/joint.h>
00040
00041 #if ROS_VERSION_MINIMUM(1, 13, 0)
00042 #include <memory>
00043 namespace shr_lib = std;
00044 #else
00045 #include <boost/shared_ptr.hpp>
00046 namespace shr_lib = boost;
00047 #endif
00048
00049 namespace urdf_traverser
00050 {
00051
00052 typedef Eigen::Transform<double, 3, Eigen::Affine> EigenTransform;
00053
00054 typedef shr_lib::shared_ptr<urdf::Link> LinkPtr;
00055 typedef shr_lib::shared_ptr<const urdf::Link> LinkConstPtr;
00056
00057 typedef shr_lib::shared_ptr<urdf::Joint> JointPtr;
00058 typedef shr_lib::shared_ptr<const urdf::Joint> JointConstPtr;
00059
00060 typedef shr_lib::shared_ptr<urdf::Visual> VisualPtr;
00061 typedef shr_lib::shared_ptr<urdf::Geometry> GeometryPtr;
00062 typedef shr_lib::shared_ptr<urdf::Mesh> MeshPtr;
00063 typedef shr_lib::shared_ptr<urdf::Sphere> SpherePtr;
00064 typedef shr_lib::shared_ptr<urdf::Box> BoxPtr;
00065 typedef shr_lib::shared_ptr<urdf::Cylinder> CylinderPtr;
00066 typedef shr_lib::shared_ptr<urdf::Collision> CollisionPtr;
00067 typedef shr_lib::shared_ptr<urdf::Inertial> InertialPtr;
00068 typedef shr_lib::shared_ptr<urdf::Material> MaterialPtr;
00069
00070 typedef shr_lib::shared_ptr<urdf::Model> ModelPtr;
00071 typedef shr_lib::shared_ptr<const urdf::Model> ModelConstPtr;
00072
00073
00074
00075 };
00076
00077
00078 #endif // URDF_TRAVERSER_TYPES_H