00001 /* 00002 * Copyright (C) 2006-2011, SRI International (R) 00003 * 00004 * This program is free software: you can redistribute it and/or modify 00005 * it under the terms of the GNU Lesser General Public License as published by 00006 * the Free Software Foundation, either version 3 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program 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 00018 #pragma once 00019 00020 #ifndef __OpenKarto_TypeCasts_h__ 00021 #define __OpenKarto_TypeCasts_h__ 00022 00023 #include <OpenKarto/Sensor.h> 00024 #include <OpenKarto/SensorData.h> 00025 #include <OpenKarto/Objects.h> 00026 #include <OpenKarto/OccupancyGrid.h> 00027 00028 namespace karto 00029 { 00031 00032 00036 00037 KARTO_TYPECHECKCAST(Sensor) 00038 KARTO_TYPECHECKCAST(SensorData) 00039 KARTO_TYPECHECKCAST(LaserRangeFinder) 00040 KARTO_TYPECHECKCAST(Drive) 00041 KARTO_TYPECHECKCAST(DrivePose) 00042 KARTO_TYPECHECKCAST(LocalizedRangeScan) 00043 KARTO_TYPECHECKCAST(LocalizedPointScan) 00044 KARTO_TYPECHECKCAST(ModuleParameters) 00045 KARTO_TYPECHECKCAST(DatasetInfo) 00046 KARTO_TYPECHECKCAST(OccupancyGrid) 00047 00053 inline kt_bool IsLocalizedLaserScan(Object* pObject) 00054 { 00055 return IsLocalizedRangeScan(pObject) || IsLocalizedPointScan(pObject); 00056 } 00057 00058 #ifdef WIN32 00059 #define EXPORT_KARTO_LIST(declspec, T) \ 00060 template class declspec karto::List<T>; 00061 00062 EXPORT_KARTO_LIST(KARTO_EXPORT, kt_double) 00063 EXPORT_KARTO_LIST(KARTO_EXPORT, Pose2) 00064 EXPORT_KARTO_LIST(KARTO_EXPORT, Vector2d) 00065 EXPORT_KARTO_LIST(KARTO_EXPORT, SmartPointer<LocalizedLaserScan>) 00066 EXPORT_KARTO_LIST(KARTO_EXPORT, SmartPointer<CustomItem>) 00067 EXPORT_KARTO_LIST(KARTO_EXPORT, SmartPointer<Sensor>) 00068 EXPORT_KARTO_LIST(KARTO_EXPORT, SmartPointer<AbstractParameter>) 00069 EXPORT_KARTO_LIST(KARTO_EXPORT, SmartPointer<Object>) 00070 #endif 00071 00073 } 00074 00075 #endif // __OpenKarto_TypeCasts_h__