/usr/include/kido/dynamics/SmartPointer.hpp is in libkido-dev 0.1.0+dfsg-2build9.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 | /*
* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* 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.
* 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.
*/
#ifndef KIDO_DYNAMICS_SMARTPOINTER_HPP_
#define KIDO_DYNAMICS_SMARTPOINTER_HPP_
#include "kido/dynamics/detail/BodyNodePtr.hpp"
#include "kido/dynamics/detail/JointPtr.hpp"
#include "kido/dynamics/detail/DegreeOfFreedomPtr.hpp"
#include "kido/dynamics/detail/NodePtr.hpp"
#include "kido/dynamics/detail/InverseKinematicsPtr.hpp"
// This file is a lightweight means of providing the smart pointers which are
// commonly used within the kido::dynamics namespace. It is 'lightweight' in the
// sense that it does not depend on any types being fully defined, making this
// header suitable for inclusion in other headers which might only want access
// to the smart pointers without needing fully defined classes.
namespace kido {
namespace dynamics {
// -- Standard shared/weak pointers --
// Define a typedef for const and non-const version of shared_ptr and weak_ptr
// for the class X
#define KIDO_DYNAMICS_MAKE_SHARED_WEAK( X ) \
class X ; \
typedef std::shared_ptr< X > X ## Ptr; \
typedef std::shared_ptr< const X > Const ## X ## Ptr; \
typedef std::weak_ptr< X > Weak ## X ## Ptr; \
typedef std::weak_ptr< const X > WeakConst ## X ## Ptr;
KIDO_DYNAMICS_MAKE_SHARED_WEAK(SimpleFrame)
//-----------------------------------------------------------------------------
// Skeleton Smart Pointers
//-----------------------------------------------------------------------------
KIDO_DYNAMICS_MAKE_SHARED_WEAK(Skeleton)
// These pointers will take the form of:
// std::shared_ptr<Skeleton> --> SkeletonPtr
// std::shared_ptr<const Skeleton> --> ConstSkeletonPtr
// std::weak_ptr<Skeleton> --> WeakSkeletonPtr
// std::weak_ptr<const Skeleton> --> WeakConstSkeletonPtr
// MetaSkeleton smart pointers
KIDO_DYNAMICS_MAKE_SHARED_WEAK(MetaSkeleton)
// ReferentialSkeleton smart pointers
KIDO_DYNAMICS_MAKE_SHARED_WEAK(ReferentialSkeleton)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(Group)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(Linkage)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(Branch)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(Chain)
//-----------------------------------------------------------------------------
// Shape Smart Pointers
//-----------------------------------------------------------------------------
KIDO_DYNAMICS_MAKE_SHARED_WEAK(Shape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(ArrowShape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(BoxShape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(CylinderShape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(EllipsoidShape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(LineSegmentShape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(MeshShape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(PlaneShape)
KIDO_DYNAMICS_MAKE_SHARED_WEAK(SoftMeshShape)
//-----------------------------------------------------------------------------
// BodyNode Smart Pointers
//-----------------------------------------------------------------------------
#define KIDO_DYNAMICS_MAKE_BODYNODEPTR( X ) \
class X ; \
typedef TemplateBodyNodePtr< X > X ## Ptr; \
typedef TemplateBodyNodePtr< const X > Const ## X ## Ptr; \
typedef TemplateWeakBodyNodePtr< X > Weak ## X ## Ptr; \
typedef TemplateWeakBodyNodePtr< const X > WeakConst ## X ## Ptr;
// BodyNode smart pointers
KIDO_DYNAMICS_MAKE_BODYNODEPTR(BodyNode)
// These pointers will take the form of:
// TemplateBodyNodePtr<BodyNode> --> BodyNodePtr
// TemplateBodyNodePtr<const BodyNode> --> ConstBodyNodePtr
// TemplateWeakBodyNodePtr<BodyNode> --> WeakBodyNodePtr
// TemplateWeakBodyNodePtr<const BodyNode> --> WeakConstBodyNodePtr
// SoftBodyNode smart pointers
KIDO_DYNAMICS_MAKE_BODYNODEPTR(SoftBodyNode)
//-----------------------------------------------------------------------------
// BodyNode-dependent Smart Pointers
//-----------------------------------------------------------------------------
#define KIDO_DYNAMICS_MAKE_BN_DEPENDENT_PTR( X ) \
class X ; \
typedef Template ## X ## Ptr < X , BodyNode > X ## Ptr; \
typedef Template ## X ## Ptr < const X , const BodyNode > Const ## X ## Ptr; \
typedef TemplateWeak ## X ## Ptr < X , BodyNode > Weak ## X ## Ptr; \
typedef TemplateWeak ## X ## Ptr < const X , const BodyNode > WeakConst ## X ## Ptr;
// Joint smart pointers
KIDO_DYNAMICS_MAKE_BN_DEPENDENT_PTR(Joint)
// These pointers will take the form of:
// TemplateJointPtr<Joint> --> JointPtr
// TemplateJointPtr<const Joint> --> ConstJointPtr
// TemplateWeakJointPtr<Joint> --> WeakJointPtr
// TemplateWeakJointPtr<const Joint> --> WeakConstJointPtr
// DegreeOfFreedom smart pointers
KIDO_DYNAMICS_MAKE_BN_DEPENDENT_PTR(DegreeOfFreedom)
// These pointers will take the form of:
// TemplateDegreeOfFreedomPtr<DegreeOfFreedom> --> DegreeOfFreedomPtr
// TemplateDegreeOfFreedomPtr<const DegreeOfFreedom> --> ConstDegreeOfFreedomPtr
// TemplateWeakDegreeOfFreedomPtr<DegreeOfFreedom> --> WeakDegreeOfFreedomPtr
// TemplateWeakDegreeOfFreedomPtr<const DegreeOfFreedom> --> WeakConstDegreeOfFreedomPtr
//-----------------------------------------------------------------------------
// Node Smart Pointers
//-----------------------------------------------------------------------------
#define KIDO_DYNAMICS_MAKE_NODEPTR( X ) \
class X ; \
typedef TemplateNodePtr < X , BodyNode > X ## Ptr; \
typedef TemplateNodePtr < const X , const BodyNode > Const ## X ## Ptr; \
typedef TemplateWeakNodePtr < X , BodyNode > Weak ## X ## Ptr; \
typedef TemplateWeakNodePtr < const X , const BodyNode > WeakConst ## X ## Ptr;
KIDO_DYNAMICS_MAKE_NODEPTR(Node)
// These pointers will take the form of:
// TemplateNodePtr<Node> --> NodePtr
// TemplateNodePtr<const Node> --> ConstNodePtr
// TemplateWeakNodePtr<Node> --> WeakNodePtr
// TemplateWeakNodePtr<const Node> --> WeakConstNodePtr
KIDO_DYNAMICS_MAKE_NODEPTR(JacobianNode)
KIDO_DYNAMICS_MAKE_NODEPTR(EndEffector)
// These pointers will take the form of:
// TemplateNodePtr<EndEffector> --> EndEffectorPtr
// TemplateNodePtr<const EndEffector> --> ConstEndEffectorPtr
// TemplateWeakNodePtr<EndEffector> --> WeakEndEffectorPtr
// TemplateWeakNodePtr<const EndEffector> --> WeakConstEndEffectorPtr
//-----------------------------------------------------------------------------
// InverseKinematics Smart Pointers
//-----------------------------------------------------------------------------
#define KIDO_DYNAMICS_MAKE_IK_PTR( X ) \
class X ; \
typedef TemplateInverseKinematicsPtr< X , JacobianNodePtr > X ## Ptr; \
typedef TemplateInverseKinematicsPtr< const X , ConstJacobianNodePtr > Const ## X ## Ptr; \
typedef TemplateWeakInverseKinematicsPtr< X , JacobianNodePtr > Weak ## X ## Ptr; \
typedef TemplateWeakInverseKinematicsPtr< const X , ConstJacobianNodePtr > WeakConst ## X ## Ptr;
KIDO_DYNAMICS_MAKE_IK_PTR(InverseKinematics)
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_SMARTPOINTER_HPP_
|