plugindefs.h

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// Copyright (c) 2009-2010 Rosen Diankov
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// \author Rosen Diankov
#ifndef OPENRAVE_PLUGINDEFS_H
#define OPENRAVE_PLUGINDEFS_H

#include <rave/rave.h> // should be included first in order to get boost throwing openrave exceptions

// include boost for vc++ only (to get typeof working)
#ifdef _MSC_VER
#include <boost/typeof/std/string.hpp>
#include <boost/typeof/std/vector.hpp>
#include <boost/typeof/std/list.hpp>
#include <boost/typeof/std/map.hpp>
#include <boost/typeof/std/string.hpp>
#include <boost/typeof/std/set.hpp>

#define FOREACH(it, v) for(BOOST_TYPEOF(v) ::iterator it = (v).begin(); it != (v).end(); (it)++)
#define FOREACH_NOINC(it, v) for(BOOST_TYPEOF(v) ::iterator it = (v).begin(); it != (v).end(); )

#define FOREACHC(it, v) for(BOOST_TYPEOF(v) ::const_iterator it = (v).begin(); it != (v).end(); (it)++)
#define FOREACHC_NOINC(it, v) for(BOOST_TYPEOF(v) ::const_iterator it = (v).begin(); it != (v).end(); )
#define RAVE_REGISTER_BOOST
#else

#include <string>
#include <vector>
#include <list>
#include <map>
#include <string>
#include <set>

#define FOREACH(it, v) for(typeof((v).begin())it = (v).begin(); it != (v).end(); (it)++)
#define FOREACH_NOINC(it, v) for(typeof((v).begin())it = (v).begin(); it != (v).end(); )

#define FOREACHC FOREACH
#define FOREACHC_NOINC FOREACH_NOINC

#endif

#include <stdint.h>
#include <fstream>
#include <iostream>

#include <boost/assert.hpp>
#include <boost/bind.hpp>
#include <boost/format.hpp>
#include <boost/array.hpp>

using namespace std;

#include <sys/timeb.h>    // ftime(), struct timeb

#ifndef _WIN32
#include <sys/time.h>
#define Sleep(milli) usleep(1000*milli)
#else
#define WIN32_LEAN_AND_MEAN
#include <winsock2.h>
#endif

#define FORIT(it, v) for(it = (v).begin(); it != (v).end(); (it)++)
using namespace OpenRAVE;

#include <ros/node_handle.h>
#include <ros/master.h>
#include <ros/time.h>

#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <boost/enable_shared_from_this.hpp>

struct null_deleter
{
    void operator()(void const *) const {
    }
};

using namespace ros;

#endif