include/hpp/fcl/fwd.hh

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//  Author: Florent Lamiraux
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#ifndef HPP_FCL_FWD_HH
#define HPP_FCL_FWD_HH

#include <memory>
#include <sstream>
#include <stdexcept>

#include <hpp/fcl/config.hh>
#include <hpp/fcl/deprecated.hh>
#include <hpp/fcl/warning.hh>

#if _WIN32
#define HPP_FCL_PRETTY_FUNCTION __FUNCSIG__
#else
#define HPP_FCL_PRETTY_FUNCTION __PRETTY_FUNCTION__
#endif

#define HPP_FCL_UNUSED_VARIABLE(var) (void)(var)

#define HPP_FCL_THROW_PRETTY(message, exception)              \
  {                                                           \
    std::stringstream ss;                                     \
    ss << "From file: " << __FILE__ << "\n";                  \
    ss << "in function: " << HPP_FCL_PRETTY_FUNCTION << "\n"; \
    ss << "at line: " << __LINE__ << "\n";                    \
    ss << "message: " << message << "\n";                     \
    throw exception(ss.str());                                \
  }

#if (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
#define HPP_FCL_WITH_CXX11_SUPPORT
#endif

#if defined(__GNUC__) || defined(__clang__)
#define HPP_FCL_COMPILER_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
#define HPP_FCL_COMPILER_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
  _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
#elif defined(WIN32)
#define HPP_FCL_COMPILER_DIAGNOSTIC_PUSH _Pragma("warning(push)")
#define HPP_FCL_COMPILER_DIAGNOSTIC_POP _Pragma("warning(pop)")
#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
  _Pragma("warning(disable : 4996)")
#else
#define HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
#define HPP_FCL_COMPILER_DIAGNOSTIC_POP
#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
#endif  // __GNUC__

namespace hpp {
namespace fcl {
using std::dynamic_pointer_cast;
using std::make_shared;
using std::shared_ptr;

class CollisionObject;
typedef shared_ptr<CollisionObject> CollisionObjectPtr_t;
typedef shared_ptr<const CollisionObject> CollisionObjectConstPtr_t;
class CollisionGeometry;
typedef shared_ptr<CollisionGeometry> CollisionGeometryPtr_t;
typedef shared_ptr<const CollisionGeometry> CollisionGeometryConstPtr_t;
class Transform3f;

class AABB;

class BVHModelBase;
typedef shared_ptr<BVHModelBase> BVHModelPtr_t;

class OcTree;
typedef shared_ptr<OcTree> OcTreePtr_t;
typedef shared_ptr<const OcTree> OcTreeConstPtr_t;
}  // namespace fcl
}  // namespace hpp

#endif  // HPP_FCL_FWD_HH