[Parsers] Move URDF types to a dedicated file

CMakeLists.txt

@@ -262,6 +262,7 @@ IF(URDFDOM_FOUND)
   LIST(APPEND ${PROJECT_NAME}_PARSERS_HEADERS
     parsers/urdf.hpp
     parsers/urdf/utils.hpp
+    parsers/urdf/types.hpp
     )
 
   ADD_DEFINITIONS(-DWITH_URDFDOM)

src/parsers/urdf.hpp

@@ -22,78 +22,10 @@
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/deprecated.hh"
 #include "pinocchio/multibody/geometry.hpp"
+#include "pinocchio/parsers/urdf/types.hpp"
 
 #include <urdf_model/model.h>
 
-#include <string>
-#include <exception>
-#ifdef URDFDOM_USE_STD_SHARED_PTR
-  #include <memory>
-  #define URDF_SHARED_PTR(type) std::shared_ptr<type>
-  #define URDF_WEAK_PTR(type) std::weak_ptr<type>
-#else
-  #include <boost/shared_ptr.hpp>
-  #define URDF_SHARED_PTR(type) boost::shared_ptr<type>
-  #define URDF_WEAK_PTR(type) boost::weak_ptr<type>
-#endif
-
-#ifndef URDFDOM_TYPEDEF_SHARED_PTR
-
-#define URDF_TYPEDEF_CLASS_POINTER(Class) \
-typedef URDF_SHARED_PTR(Class) Class##SharedPtr; \
-typedef URDF_SHARED_PTR(const Class) Class##ConstSharedPtr; \
-typedef URDF_WEAK_PTR(Class) 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(Link);
-  URDF_TYPEDEF_CLASS_POINTER(Material);
-  URDF_TYPEDEF_CLASS_POINTER(Mesh);
-  URDF_TYPEDEF_CLASS_POINTER(ModelInterface);
-  URDF_TYPEDEF_CLASS_POINTER(Sphere);
-  URDF_TYPEDEF_CLASS_POINTER(Visual);
-  
-  template<class T, class U>
-  URDF_SHARED_PTR(T) const_pointer_cast(URDF_SHARED_PTR(U) const & r)
-  {
-#ifdef URDFDOM_USE_STD_SHARED_PTR
-    return std::const_pointer_cast<T>(r);
-#else
-    return boost::const_pointer_cast<T>(r);
-#endif
-  }
-  
-  template<class T, class U>
-  URDF_SHARED_PTR(T) dynamic_pointer_cast(URDF_SHARED_PTR(U) const & r)
-  {
-#ifdef URDFDOM_USE_STD_SHARED_PTR
-    return std::dynamic_pointer_cast<T>(r);
-#else
-    return boost::dynamic_pointer_cast<T>(r);
-#endif
-  }
-  
-  template<class T, class U>
-  URDF_SHARED_PTR(T) static_pointer_cast(URDF_SHARED_PTR(U) const & r)
-  {
-#ifdef URDFDOM_USE_STD_SHARED_PTR
-    return std:static_pointer_cast<T>(r);
-#else
-    return boost::static_pointer_cast<T>(r);
-#endif
-  }
-}
-
-#undef URDF_TYPEDEF_CLASS_POINTER
-
-#endif
-
 namespace se3
 {
   namespace urdf

src/parsers/urdf/types.hpp

+//
+// Copyright (c) 2015-2017 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_parsers_urdf_types_hpp__
+#define __se3_parsers_urdf_types_hpp__
+
+#include <urdf_model/model.h>
+
+#include <string>
+#include <exception>
+#ifdef URDFDOM_USE_STD_SHARED_PTR
+#include <memory>
+#define URDF_SHARED_PTR(type) std::shared_ptr<type>
+#define URDF_WEAK_PTR(type) std::weak_ptr<type>
+#else
+#include <boost/shared_ptr.hpp>
+#define URDF_SHARED_PTR(type) boost::shared_ptr<type>
+#define URDF_WEAK_PTR(type) boost::weak_ptr<type>
+#endif
+
+#ifndef URDFDOM_TYPEDEF_SHARED_PTR
+
+#define URDF_TYPEDEF_CLASS_POINTER(Class) \
+typedef URDF_SHARED_PTR(Class) Class##SharedPtr; \
+typedef URDF_SHARED_PTR(const Class) Class##ConstSharedPtr; \
+typedef URDF_WEAK_PTR(Class) 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(Link);
+  URDF_TYPEDEF_CLASS_POINTER(Material);
+  URDF_TYPEDEF_CLASS_POINTER(Mesh);
+  URDF_TYPEDEF_CLASS_POINTER(ModelInterface);
+  URDF_TYPEDEF_CLASS_POINTER(Sphere);
+  URDF_TYPEDEF_CLASS_POINTER(Visual);
+  
+  template<class T, class U>
+  URDF_SHARED_PTR(T) const_pointer_cast(URDF_SHARED_PTR(U) const & r)
+  {
+#ifdef URDFDOM_USE_STD_SHARED_PTR
+    return std::const_pointer_cast<T>(r);
+#else
+    return boost::const_pointer_cast<T>(r);
+#endif
+  }
+  
+  template<class T, class U>
+  URDF_SHARED_PTR(T) dynamic_pointer_cast(URDF_SHARED_PTR(U) const & r)
+  {
+#ifdef URDFDOM_USE_STD_SHARED_PTR
+    return std::dynamic_pointer_cast<T>(r);
+#else
+    return boost::dynamic_pointer_cast<T>(r);
+#endif
+  }
+  
+  template<class T, class U>
+  URDF_SHARED_PTR(T) static_pointer_cast(URDF_SHARED_PTR(U) const & r)
+  {
+#ifdef URDFDOM_USE_STD_SHARED_PTR
+    return std:static_pointer_cast<T>(r);
+#else
+    return boost::static_pointer_cast<T>(r);
+#endif
+  }
+}
+
+#undef URDF_TYPEDEF_CLASS_POINTER
+
+#endif
+
+#endif // ifndef __se3_parsers_urdf_types_hpp__