types.hpp
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1 //
2 // Copyright (c) 2015-2023 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_parsers_urdf_types_hpp__
6 #define __pinocchio_parsers_urdf_types_hpp__
7 
8 #include <urdf_model/model.h>
9 
10 #include <string>
11 #include <exception>
12 #ifdef PINOCCHIO_URDFDOM_USE_STD_SHARED_PTR
13 #include <memory>
14 #define PINOCCHIO_URDF_SHARED_PTR(type) std::shared_ptr<type>
15 #define PINOCCHIO_URDF_WEAK_PTR(type) std::weak_ptr<type>
16 #else
17 #include <boost/shared_ptr.hpp>
18 #define PINOCCHIO_URDF_SHARED_PTR(type) boost::shared_ptr<type>
19 #define PINOCCHIO_URDF_WEAK_PTR(type) boost::weak_ptr<type>
20 #endif
21 
22 #ifndef PINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR
23 
24 #define PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER(Class) \
25 typedef PINOCCHIO_URDF_SHARED_PTR(Class) Class##SharedPtr; \
26 typedef PINOCCHIO_URDF_SHARED_PTR(const Class) Class##ConstSharedPtr; \
27 typedef PINOCCHIO_URDF_WEAK_PTR(Class) Class##WeakPtr
28 
29 namespace urdf
30 {
43 
44  template<class T, class U>
46  {
47 #ifdef PINOCCHIO_URDFDOM_USE_STD_SHARED_PTR
48  return std::const_pointer_cast<T>(r);
49 #else
50  return boost::const_pointer_cast<T>(r);
51 #endif
52  }
53 
54  template<class T, class U>
55  PINOCCHIO_URDF_SHARED_PTR(T) dynamic_pointer_cast(PINOCCHIO_URDF_SHARED_PTR(U) const & r)
56  {
57 #ifdef PINOCCHIO_URDFDOM_USE_STD_SHARED_PTR
58  return std::dynamic_pointer_cast<T>(r);
59 #else
60  return boost::dynamic_pointer_cast<T>(r);
61 #endif
62  }
63 
64  template<class T, class U>
65  PINOCCHIO_URDF_SHARED_PTR(T) static_pointer_cast(PINOCCHIO_URDF_SHARED_PTR(U) const & r)
66  {
67 #ifdef PINOCCHIO_URDFDOM_USE_STD_SHARED_PTR
68  return std::static_pointer_cast<T>(r);
69 #else
70  return boost::static_pointer_cast<T>(r);
71 #endif
72  }
73 }
74 
75 #undef PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER
76 
77 #else // PINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR
78 
79 #include <urdf_world/types.h>
80 
81 #endif // PINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR
82 
83 #endif // ifndef __pinocchio_parsers_urdf_types_hpp__
FCL_REAL r
Sphere()
Cylinder()
Definition: types.hpp:29
U
Definition: ocp.py:61
JointTpl< double > Joint
PINOCCHIO_URDF_TYPEDEF_CLASS_POINTER(Box)
PINOCCHIO_URDF_SHARED_PTR(T) const _pointer_cast(PINOCCHIO_URDF_SHARED_PTR(U) const &r)
Definition: types.hpp:45
Box(FCL_REAL x, FCL_REAL y, FCL_REAL z)


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autogenerated on Fri Jun 23 2023 02:38:33