00001 /****************************************************************************** 00002 * This file is part of the KDL project * 00003 * * 00004 * (C) 2010 Ruben Smits * 00005 * 2010 Steven Bellens * 00006 * ruben.smits@mech.kuleuven.be * 00007 * steven.bellens@mech.kuleuven.be * 00008 * Department of Mechanical Engineering, * 00009 * Katholieke Universiteit Leuven, Belgium. * 00010 * * 00011 * You may redistribute this software and/or modify it under either the * 00012 * terms of the GNU Lesser General Public License version 2.1 (LGPLv2.1 * 00013 * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>) or (at your * 00014 * discretion) of the Modified BSD License: * 00015 * Redistribution and use in source and binary forms, with or without * 00016 * modification, are permitted provided that the following conditions * 00017 * are met: * 00018 * 1. Redistributions of source code must retain the above copyright * 00019 * notice, this list of conditions and the following disclaimer. * 00020 * 2. Redistributions in binary form must reproduce the above copyright * 00021 * notice, this list of conditions and the following disclaimer in the * 00022 * documentation and/or other materials provided with the distribution. * 00023 * 3. The name of the author may not be used to endorse or promote * 00024 * products derived from this software without specific prior written * 00025 * permission. * 00026 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR * 00027 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * 00028 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * 00029 * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT,* 00030 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * 00031 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS * 00032 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * 00033 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * 00034 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING * 00035 * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * 00036 * POSSIBILITY OF SUCH DAMAGE. * 00037 * * 00038 *******************************************************************************/ 00039 00040 #include "kdlTypekit.hpp" 00041 00042 namespace KDL 00043 { 00044 using namespace RTT; 00045 using namespace RTT::detail; 00046 using namespace std; 00047 00048 KDLTypekitPlugin KDLTypekit; 00049 00050 void loadChainTypes(); 00051 void loadFrameTypes(); 00052 void loadJacobianTypes(); 00053 void loadJntArrayTypes(); 00054 void loadJointTypes(); 00055 void loadRotationTypes(); 00056 void loadSegmentTypes(); 00057 void loadTwistTypes(); 00058 void loadVectorTypes(); 00059 void loadWrenchTypes(); 00060 00061 std::string KDLTypekitPlugin::getName() 00062 { 00063 return "KDL"; 00064 } 00065 00066 bool KDLTypekitPlugin::loadTypes() 00067 { 00068 loadChainTypes(); 00069 loadFrameTypes(); 00070 loadJacobianTypes(); 00071 loadJntArrayTypes(); 00072 loadJointTypes(); 00073 loadRotationTypes(); 00074 loadSegmentTypes(); 00075 loadTwistTypes(); 00076 loadVectorTypes(); 00077 loadWrenchTypes(); 00078 00079 return true; 00080 } 00081 } 00082 ORO_TYPEKIT_PLUGIN(KDL::KDLTypekitPlugin)