BackwardCompatibility.hpp

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// This header is for supporting OMPL across the multiple versions that include
// API breaking changes. Currently, the most part is to support changes from the
// usage of Boost to C++11 STL equivalents.
 
#ifndef AIKIDO_PLANNER_OMPL_BACKWARDCOMPATIBILITY_HPP_
#define AIKIDO_PLANNER_OMPL_BACKWARDCOMPATIBILITY_HPP_
 
#include <ompl/config.h>
 
// clang-format off
 
#define OMPL_VERSION_AT_LEAST(x,y,z) \
  (OMPL_MAJOR_VERSION > x || (OMPL_MAJOR_VERSION >= x && \
  (OMPL_MINOR_VERSION > y || (OMPL_MINOR_VERSION >= y && \
  OMPL_PATCH_VERSION >= z))))
 
#define OMPL_MAJOR_MINOR_VERSION_AT_LEAST(x,y) \
  (OMPL_MAJOR_VERSION > x || (OMPL_MAJOR_VERSION >= x && \
  (OMPL_MINOR_VERSION > y || (OMPL_MINOR_VERSION >= y))))
 
#define OMPL_VERSION_AT_MOST(x,y,z) \
  (OMPL_MAJOR_VERSION < x || (OMPL_MAJOR_VERSION <= x && \
  (OMPL_MINOR_VERSION < y || (OMPL_MINOR_VERSION <= y && \
  OMPL_PATCH_VERSION <= z))))
 
#define OMPL_MAJOR_MINOR_VERSION_AT_MOST(x,y) \
  (OMPL_MAJOR_VERSION < x || (OMPL_MAJOR_VERSION <= x && \
  (OMPL_MINOR_VERSION < y || (OMPL_MINOR_VERSION <= y))))
 
// clang-format on
 
#if OMPL_VERSION_AT_LEAST(1, 2, 0)
#include <memory>
#else
#include <boost/smart_ptr.hpp>
#include <boost/bind.hpp>
#endif
 
namespace aikido {
namespace planner {
namespace ompl {
 
#if OMPL_VERSION_AT_LEAST(1, 2, 0)
 
#define OMPL_PLACEHOLDER(ph) std::placeholders::ph
 
template <class T>
using ompl_shared_ptr = std::shared_ptr<T>;
 
template <class T>
using ompl_weak_ptr = std::weak_ptr<T>;
 
template <class T, class... Args>
ompl_shared_ptr<T> ompl_make_shared(Args&&... args)
{
  return std::make_shared<T>(std::forward<Args>(args)...);
}
 
template <class T, class U>
ompl_shared_ptr<T> ompl_dynamic_pointer_cast(const ompl_shared_ptr<U>& r)
{
  return std::dynamic_pointer_cast<T>(r);
}
 
template <class T, class U>
ompl_shared_ptr<T> ompl_static_pointer_cast(const ompl_shared_ptr<U>& r)
{
  return std::static_pointer_cast<T>(r);
}
 
template <class F, class... Args>
auto ompl_bind(F&& f, Args&&... args)
    -> decltype(std::bind(std::forward<F>(f), std::forward<Args>(args)...))
{
  return std::bind(std::forward<F>(f), std::forward<Args>(args)...);
}
 
#else // OMPL_VERSION_AT_LEAST(1,2,0)
 
#define OMPL_PLACEHOLDER(ph) ph
 
template <class T>
using ompl_shared_ptr = boost::shared_ptr<T>;
 
template <class T>
using ompl_weak_ptr = boost::weak_ptr<T>;
 
template <class T, class... Args>
ompl_shared_ptr<T> ompl_make_shared(Args&&... args)
{
  return boost::make_shared<T>(std::forward<Args>(args)...);
}
 
template <class T, class U>
ompl_shared_ptr<T> ompl_dynamic_pointer_cast(const ompl_shared_ptr<U>& r)
{
  return boost::dynamic_pointer_cast<T>(r);
}
 
template <class T, class U>
ompl_shared_ptr<T> ompl_static_pointer_cast(const ompl_shared_ptr<U>& r)
{
  return boost::static_pointer_cast<T>(r);
}
 
template <class F, class... Args>
auto ompl_bind(F&& f, Args&&... args)
    -> decltype(boost::bind(std::forward<F>(f), std::forward<Args>(args)...))
{
  return boost::bind(std::forward<F>(f), std::forward<Args>(args)...);
}
 
#endif // OMPL_VERSION_AT_LEAST(1,2,0)
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_OMPL_BACKWARDCOMPATIBILITY_HPP_