types.h

Go to the documentation of this file.

/*
 *  Copyright 2018, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  abstract_planner.h
 *
 *  author: Jannik Abbenseth <jba@ipa.fhg.de>
 *
 */

#ifndef MBF_UTILITY__TYPES_H_
#define MBF_UTILITY__TYPES_H_

#include <boost/shared_ptr.hpp>
#include <ros/common.h>

#if ROS_VERSION_MINIMUM (1, 14, 0) // if current ros version is >= 1.14.0
  // Melodic uses TF2
  #include <tf2_ros/buffer.h>
  typedef boost::shared_ptr<tf2_ros::Buffer> TFPtr;
  typedef tf2_ros::Buffer TF;
  typedef tf2::TransformException TFException;
#else
  // Previous versions still using TF
  #define USE_OLD_TF
  #include <tf/transform_listener.h>
  typedef boost::shared_ptr<tf::TransformListener> TFPtr;
  typedef tf::TransformListener TF;
  typedef tf::TransformException TFException;
#endif

#endif