00001 // g2o - General Graph Optimization 00002 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 00003 // 00004 // g2o 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 // g2o 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 #ifdef WINDOWS 00021 #include <stdio.h> 00022 #include <stdlib.h> 00023 #include <stdarg.h> 00024 #ifndef _WINDOWS 00025 #include <sys/time.h> 00026 #endif 00027 #define drand48() ((double) rand()/(double)RAND_MAX) 00028 00029 #ifdef __cplusplus 00030 extern "C" { 00031 #endif 00032 00033 int vasprintf(char** strp, const char* fmt, va_list ap); 00034 00035 #ifdef __cplusplus 00036 } 00037 #endif 00038 00039 #endif 00040 00041 #ifdef UNIX 00042 #include <sys/time.h> 00043 // nothing to do on real operating systems 00044 #endif 00045 00046 #endif