From 37398e717179df0743d9a168f9205fb80012623d Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 28 Oct 2016 09:03:32 +0200 Subject: [PATCH] cleanup urdfdom compatibility ... now relying on compatibility layer of urdf package --- CMakeLists.txt | 17 +-------- include/srdfdom/model.h | 3 +- package.xml | 1 + urdfdom_compatibility.h.in | 78 -------------------------------------- 4 files changed, 4 insertions(+), 95 deletions(-) delete mode 100644 urdfdom_compatibility.h.in diff --git a/CMakeLists.txt b/CMakeLists.txt index f4e919f..8579fcc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -7,30 +7,18 @@ include_directories(SYSTEM ${Boost_INCLUDE_DIR}) find_package(console_bridge REQUIRED) find_package(urdfdom_headers REQUIRED) -find_package(catkin REQUIRED COMPONENTS cmake_modules urdfdom_py) +find_package(catkin REQUIRED COMPONENTS cmake_modules urdf urdfdom_py) find_package(TinyXML REQUIRED) include_directories(include ${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${console_bridge_INCLUDE_DIRS} ${urdfdom_headers_INCLUDE_DIRS}) link_directories(${catkin_LIBRARY_DIRS}) - -### Maintain compatibility to old urdfdom_headers (version < 4.0) -if( "0.4.0" VERSION_GREATER "${urdfdom_headers_VERSION}") - set(HAVE_URDFDOM_4 0) -else() - set(HAVE_URDFDOM_4 1) -endif() -set(generated_compat_header "${CATKIN_DEVEL_PREFIX}/include/${PROJECT_NAME}/urdfdom_compatibility.h") -include_directories("${CATKIN_DEVEL_PREFIX}/include") -configure_file(urdfdom_compatibility.h.in "${generated_compat_header}" @ONLY) - - catkin_python_setup() catkin_package( LIBRARIES ${PROJECT_NAME} - INCLUDE_DIRS include ${TinyXML_INCLUDE_DIRS} ${CATKIN_DEVEL_PREFIX}/include + INCLUDE_DIRS include ${TinyXML_INCLUDE_DIRS} DEPENDS console_bridge urdfdom_headers urdfdom_py ) @@ -48,7 +36,6 @@ install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" ) -install(FILES ${generated_compat_header} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) install(PROGRAMS scripts/display_srdf diff --git a/include/srdfdom/model.h b/include/srdfdom/model.h index 68ff337..35afdec 100644 --- a/include/srdfdom/model.h +++ b/include/srdfdom/model.h @@ -41,8 +41,7 @@ #include #include #include -#include -#include +#include // TODO: replace with urdf_model/types.h in Lunar #include #include diff --git a/package.xml b/package.xml index 46e4858..38def99 100644 --- a/package.xml +++ b/package.xml @@ -16,6 +16,7 @@ boost cmake_modules libconsole-bridge-dev + urdf liburdfdom-headers-dev urdfdom_py tinyxml diff --git a/urdfdom_compatibility.h.in b/urdfdom_compatibility.h.in deleted file mode 100644 index c096394..0000000 --- a/urdfdom_compatibility.h.in +++ /dev/null @@ -1,78 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2016, CITEC, Bielefeld University -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * 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. -* * Neither the name of the Willow Garage 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 OWNER 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. -*********************************************************************/ - -/* Robert Haschke */ - -#ifndef SRDF_URDFDOM_COMPATIBILITY_ -#define SRDF_URDFDOM_COMPATIBILITY_ - -// This code is only activated when urdfdom's type forwards were not available -// at cmake configuration time - -#if @HAVE_URDFDOM_4@ == 0 - -#include -#include - -#define URDF_TYPEDEF_CLASS_POINTER(Class) \ -class Class; \ -typedef boost::shared_ptr Class##SharedPtr; \ -typedef boost::shared_ptr Class##ConstSharedPtr; \ -typedef boost::weak_ptr Class##WeakPtr - -namespace urdf { -URDF_TYPEDEF_CLASS_POINTER(Box); -URDF_TYPEDEF_CLASS_POINTER(Collision); -URDF_TYPEDEF_CLASS_POINTER(Cylinder); -URDF_TYPEDEF_CLASS_POINTER(Geometry); -URDF_TYPEDEF_CLASS_POINTER(Inertial); - -URDF_TYPEDEF_CLASS_POINTER(Joint); -URDF_TYPEDEF_CLASS_POINTER(JointCalibration); -URDF_TYPEDEF_CLASS_POINTER(JointDynamics); -URDF_TYPEDEF_CLASS_POINTER(JointLimits); -URDF_TYPEDEF_CLASS_POINTER(JointMimic); -URDF_TYPEDEF_CLASS_POINTER(JointSafety); - -URDF_TYPEDEF_CLASS_POINTER(Link); -URDF_TYPEDEF_CLASS_POINTER(Material); -URDF_TYPEDEF_CLASS_POINTER(Mesh); -URDF_TYPEDEF_CLASS_POINTER(Sphere); -URDF_TYPEDEF_CLASS_POINTER(Visual); -} - -#undef URDF_TYPEDEF_CLASS_POINTER - -#endif -#endif // SRDF_URDFDOM_COMPATIBILITY_