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Fixes for compiling in Windows #7

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merged 7 commits into from
Oct 2, 2015
Merged

Fixes for compiling in Windows #7

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8fdf48f
Fixes for compiling in Windows
traversaro Aug 5, 2014
58c8617
Merge branch 'master' of https://github.com/ros/urdfdom_headers
traversaro Sep 30, 2015
68bca4e
fixed cmake logic
traversaro Sep 30, 2015
c451a4b
fix #ifndef _USE_MATH_DEFINES
traversaro Sep 30, 2015
bd0035f
only define round in VS <= 2012
traversaro Sep 30, 2015
bb40954
[cmake] modify install directory of .cmake files
traversaro Sep 30, 2015
cdf8ac9
Remove repeated <cmath> inclusion
jslee02 Oct 2, 2015
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16 changes: 11 additions & 5 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -21,16 +21,22 @@ add_subdirectory(urdf_model_state)
add_subdirectory(urdf_world)
add_subdirectory(urdf_exception)

if(WIN32 AND NOT CYGWIN)
set(CMAKE_CONFIG_INSTALL_DIR CMake)
else()
set(CMAKE_CONFIG_INSTALL_DIR share/${PROJECT_NAME}/cmake/)
endif()

set(PACKAGE_NAME ${PROJECT_NAME})
set(cmake_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/cmake/${PROJECT_NAME}-config.cmake")
configure_file("${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
install(FILES "${CMAKE_BINARY_DIR}/${cmake_conf_file}" DESTINATION share/${PROJECT_NAME}/cmake/ COMPONENT cmake)
set(cmake_conf_file "${PROJECT_NAME}-config.cmake")
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
install(FILES "${CMAKE_BINARY_DIR}/${cmake_conf_file}" DESTINATION ${CMAKE_CONFIG_INSTALL_DIR} COMPONENT cmake)

# Make the package config file
if (NOT MSVC)
set(PACKAGE_DESC "Unified Robot Description Format")
set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/urdfdom_headers.pc")
configure_file("${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
set(pkg_conf_file "urdfdom_headers.pc")
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
install(FILES "${CMAKE_BINARY_DIR}/${pkg_conf_file}" DESTINATION lib/pkgconfig/ COMPONENT pkgconfig)
endif()

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10 changes: 10 additions & 0 deletions urdf_model/include/urdf_model/pose.h
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Expand Up @@ -37,9 +37,19 @@
#ifndef URDF_INTERFACE_POSE_H
#define URDF_INTERFACE_POSE_H

//For using the M_PI macro in visual studio it
//is necessary to define _USE_MATH_DEFINES
#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif

#include <cmath>
#include <string>
#include <sstream>
#include <vector>

#include <cmath>
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<cmath> is already included on line 53

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Removed the second one.

#include <boost/algorithm/string.hpp>
#include <boost/lexical_cast.hpp>
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11 changes: 11 additions & 0 deletions urdf_model_state/include/urdf_model_state/model_state.h
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Expand Up @@ -48,6 +48,17 @@

namespace urdf{

//round is not defined in C++98
//So in Visual Studio <= 2012 is necessary to define it
#ifdef _MSC_VER
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I think that we should add a check of version on this. I guess that round was eventually implemented in some recent versions of Visual Studio for C++11 compatibility ( http://www.cplusplus.com/reference/cmath/round/ ).

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It seems std::round was implemented since VS2013. I found some posts that says it's not implemented until VS2012: 1, 2.

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I remember that I was developing this PR to compile a project depending on urdfdom in VS2012, so I think this is make sense.

#if (_MSC_VER <= 1700)
double round(double value)
{
return (value >= 0.0f)?(floor(value + 0.5f)):(ceil(value - 0.5f));
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instead of defining this, why not just add 0.5 to the arg of round and call floor() instead?

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they give different results:

round(0.5) = 1.0
round(-0.5) = -1.0

floor(0.5 + 0.5) = 1.0
floor(-0.5 + 0.5) = 0.0

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good point, thanks! i guess we care about negative values :)

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:)

}
#endif
#endif

class Time
{
public:
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