92 lines
3.2 KiB
C++
92 lines
3.2 KiB
C++
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/*
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* RBDL - Rigid Body Dynamics Library
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* Copyright (c) 2011-2016 Martin Felis <martin@fysx.org>
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*
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* Licensed under the zlib license. See LICENSE for more details.
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*/
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#include <rbdl/rbdl_config.h>
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#include <iostream>
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#include <sstream>
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#include <string>
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#include <cstdlib>
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RBDL_DLLAPI int rbdl_get_api_version() {
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static int compile_version = RBDL_API_VERSION;
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return compile_version;
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}
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RBDL_DLLAPI void rbdl_check_api_version(int version) {
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int compile_version = rbdl_get_api_version();
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int compile_major = (compile_version & 0xff0000) >> 16;
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int compile_minor = (compile_version & 0x00ff00) >> 8;
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int compile_patch = (compile_version & 0x0000ff);
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std::ostringstream compile_version_string("");
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compile_version_string << compile_major << "." << compile_minor << "." << compile_patch;
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int version_major = (version & 0xff0000) >> 16;
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int version_minor = (version & 0x00ff00) >> 8;
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int version_patch = (version & 0x0000ff);
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std::ostringstream link_version_string ("");
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link_version_string << version_major << "." << version_minor << "." << version_patch;
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if (version_major != compile_major) {
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std::cerr << "Error: trying to link against an incompatible RBDL library." << std::endl;
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std::cerr << "The library version is: " << compile_version_string.str() << " but rbdl_config.h is version " << link_version_string.str() << std::endl;
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abort();
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} else if (version_minor != compile_minor) {
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std::cout << "Warning: RBDL library is of version " << compile_version_string.str() << " but rbdl_config.h is from version " << link_version_string.str() << std::endl;
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}
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}
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RBDL_DLLAPI void rbdl_print_version() {
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int compile_version = rbdl_get_api_version();
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int compile_major = (compile_version & 0xff0000) >> 16;
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int compile_minor = (compile_version & 0x00ff00) >> 8;
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int compile_patch = (compile_version & 0x0000ff);
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std::ostringstream compile_version_string("");
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compile_version_string << compile_major << "." << compile_minor << "." << compile_patch;
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std::cout << "RBDL version:" << std::endl
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<< " API version : " << compile_version_string.str() << std::endl;
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if (std::string("unknown") != RBDL_BUILD_REVISION) {
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std::cout << " revision : " << RBDL_BUILD_REVISION
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<< " (branch: " << RBDL_BUILD_BRANCH << ")" << std::endl
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<< " build type : " << RBDL_BUILD_TYPE << std::endl;
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}
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#ifdef RBDL_ENABLE_LOGGING
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std::cout << " logging : on (warning: reduces performance!)" << std::endl;
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#else
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std::cout << " logging : off" << std::endl;
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#endif
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#ifdef RBDL_USE_SIMPLE_MATH
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std::cout << " simplemath : on (warning: reduces performance!)" << std::endl;
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#else
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std::cout << " simplemath : off" << std::endl;
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#endif
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#ifdef RBDL_BUILD_ADDON_LUAMODEL
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std::cout << " LuaModel : on" << std::endl;
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#else
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std::cout << " LuaModel : off" << std::endl;
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#endif
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#ifdef RBDL_BUILD_ADDON_URDFREADER
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std::cout << " URDFReader : on" << std::endl;
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#else
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std::cout << " URDFReader : off" << std::endl;
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#endif
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std::string build_revision (RBDL_BUILD_REVISION);
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if (build_revision == "unknown") {
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std::cout << std::endl << "Version information incomplete: to enable version information re-build" << std::endl << "library from valid repository and enable RBDL_STORE_VERSION." << std::endl;
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}
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}
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