70 lines
1.8 KiB
C
70 lines
1.8 KiB
C
/*
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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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#ifndef RBDL_H
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#define RBDL_H
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#include "rbdl/rbdl_math.h"
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#include "rbdl/rbdl_mathutils.h"
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#include "rbdl/Logging.h"
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#include "rbdl/Body.h"
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#include "rbdl/Model.h"
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#include "rbdl/Dynamics.h"
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#include "rbdl/Joint.h"
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#include "rbdl/Kinematics.h"
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#include "rbdl/Constraints.h"
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#include "rbdl/rbdl_utils.h"
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/** \page api_version_checking_page API Changes
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* @{
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*
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* This documentation was created for API version 2.2.0.
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*
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* Here is a list of changes introduced by the different versions and what
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* adjustements have to be made to migrate.
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*
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* \include api_changes.txt
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*/
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/** Returns the API version at compile time of the library. */
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RBDL_DLLAPI int rbdl_get_api_version();
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/** Ensures whether the RBDL library we are linking against is compatible
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* with the the version we have from rbdl.h.
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*
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* To perform the check run:
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* \code
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* rbdl_check_api_version(API_VERSION);
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* \endcode
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*
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* This function will abort if compatibility is not met or warn if you run
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* a version that might not be entirely compatible.
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*
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* In most cases you want to specify a specific version to ensure you are
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* using a compatible version. To do so replace API_VERSION by a
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* value of the form 0xAABBCC where AA is the major, BB the minor, and CC
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* the patch version in hex-format, e.g:
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*
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* \code
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* rbdl_check_api_version(0x020A0C);
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* \endcode
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*
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* Would abort if the API major version is not 2 (= 0x02), warn if the
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* linked minor version is not 10 (= 0x0A). The patch version 12 (= 0x12)
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* does not have an influence on compatibility.
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*/
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RBDL_DLLAPI void rbdl_check_api_version(int version);
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/** Prints version information to standard output */
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RBDL_DLLAPI void rbdl_print_version();
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/* RBDL_H */
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#endif
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