config.h   config.h 
skipping to change at line 40 skipping to change at line 40
#define OPENRAVE_API OPENRAVE_HELPER_DLL_IMPORT #define OPENRAVE_API OPENRAVE_HELPER_DLL_IMPORT
#endif // OPENRAVE_DLL_EXPORTS #endif // OPENRAVE_DLL_EXPORTS
#define OPENRAVE_LOCAL OPENRAVE_HELPER_DLL_LOCAL #define OPENRAVE_LOCAL OPENRAVE_HELPER_DLL_LOCAL
#else // OPENRAVE_DLL is not defined: this means OpenRAVE is a static lib. #else // OPENRAVE_DLL is not defined: this means OpenRAVE is a static lib.
#define OPENRAVE_API #define OPENRAVE_API
#define OPENRAVE_LOCAL #define OPENRAVE_LOCAL
#endif // OPENRAVE_DLL #endif // OPENRAVE_DLL
#define OPENRAVE_VERSION_MAJOR 0 #define OPENRAVE_VERSION_MAJOR 0
#define OPENRAVE_VERSION_MINOR 4 #define OPENRAVE_VERSION_MINOR 4
#define OPENRAVE_VERSION_PATCH 1 #define OPENRAVE_VERSION_PATCH 2
#define OPENRAVE_VERSION_COMBINED(major, minor, patch) (((major) << 16) | ( (minor) << 8) | (patch)) #define OPENRAVE_VERSION_COMBINED(major, minor, patch) (((major) << 16) | ( (minor) << 8) | (patch))
#define OPENRAVE_VERSION OPENRAVE_VERSION_COMBINED(OPENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH) #define OPENRAVE_VERSION OPENRAVE_VERSION_COMBINED(OPENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH)
#define OPENRAVE_VERSION_EXTRACT_MAJOR(version) (((version)>>16)&0xff) #define OPENRAVE_VERSION_EXTRACT_MAJOR(version) (((version)>>16)&0xff)
#define OPENRAVE_VERSION_EXTRACT_MINOR(version) (((version)>>8)&0xff) #define OPENRAVE_VERSION_EXTRACT_MINOR(version) (((version)>>8)&0xff)
#define OPENRAVE_VERSION_EXTRACT_PATCH(version) (((version))&0xff) #define OPENRAVE_VERSION_EXTRACT_PATCH(version) (((version))&0xff)
#define OPENRAVE_VERSION_STRING "0.4.1" #define OPENRAVE_VERSION_STRING "0.4.2"
#define OPENRAVE_VERSION_STRING_FORMAT(version) boost::str(boost::format("% s.%s.%s")%(OPENRAVE_VERSION_EXTRACT_MAJOR(version))%(OPENRAVE_VERSION_EXTRA CT_MINOR(version))%(OPENRAVE_VERSION_EXTRACT_PATCH(version))) #define OPENRAVE_VERSION_STRING_FORMAT(version) boost::str(boost::format("% s.%s.%s")%(OPENRAVE_VERSION_EXTRACT_MAJOR(version))%(OPENRAVE_VERSION_EXTRA CT_MINOR(version))%(OPENRAVE_VERSION_EXTRACT_PATCH(version)))
#define OPENRAVE_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (OPENRAVE_VERSION_COMBINED(major1, minor1, patch1) >= OPENRAVE_VERSION_COM BINED(major2, minor2, patch2)) #define OPENRAVE_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (OPENRAVE_VERSION_COMBINED(major1, minor1, patch1) >= OPENRAVE_VERSION_COM BINED(major2, minor2, patch2))
#define OPENRAVE_VERSION_MINIMUM(major, minor, patch) OPENRAVE_VERSION_GE(O PENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH, majo r, minor, patch) #define OPENRAVE_VERSION_MINIMUM(major, minor, patch) OPENRAVE_VERSION_GE(O PENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH, majo r, minor, patch)
// if 0, single precision // if 0, single precision
// if 1, double precision // if 1, double precision
#define OPENRAVE_PRECISION 1 #define OPENRAVE_PRECISION 1
#define OPENRAVE_PLUGINS_INSTALL_DIR "/home/andrey/upstream-tracker/testing #define OPENRAVE_PLUGINS_INSTALL_DIR "/home/andrey/upstream-tracker/testing
/openrave/0.4.1/share/openrave-0.4/plugins" /openrave/0.4.2/share/openrave-0.4/plugins"
#define OPENRAVE_DATA_INSTALL_DIR "/home/andrey/upstream-tracker/testing/op #define OPENRAVE_DATA_INSTALL_DIR "/home/andrey/upstream-tracker/testing/op
enrave/0.4.1/share/openrave-0.4" enrave/0.4.2/share/openrave-0.4"
#define OPENRAVE_PYTHON_INSTALL_DIR "/home/andrey/upstream-tracker/testing/ #define OPENRAVE_PYTHON_INSTALL_DIR "/home/andrey/upstream-tracker/testing/
openrave/0.4.1/lib/python2.7/site-packages" openrave/0.4.2/lib/python2.7/site-packages"
#endif #endif
 End of changes. 3 change blocks. 
8 lines changed or deleted 8 lines changed or added


 kinbody.h   kinbody.h 
skipping to change at line 503 skipping to change at line 503
/// \brief Return the value of the specified joint axis only. /// \brief Return the value of the specified joint axis only.
virtual dReal GetValue(int axis) const; virtual dReal GetValue(int axis) const;
/// \brief Gets the joint velocities /// \brief Gets the joint velocities
/// ///
/// \param bAppend if true will append to the end of the vector ins tead of erasing it /// \param bAppend if true will append to the end of the vector ins tead of erasing it
/// \return the degrees of freedom of the joint (even if pValues is NULL) /// \return the degrees of freedom of the joint (even if pValues is NULL)
virtual void GetVelocities(std::vector<dReal>& values, bool bAppend =false) const; virtual void GetVelocities(std::vector<dReal>& values, bool bAppend =false) const;
/// \brief Add torque to the physics engine. /// \brief Add effort (force or torque) to the joint
virtual void AddTorque(const std::vector<dReal>& torques); virtual void AddTorque(const std::vector<dReal>& torques);
/// \brief The anchor of the joint in global coordinates. /// \brief The anchor of the joint in global coordinates.
virtual Vector GetAnchor() const; virtual Vector GetAnchor() const;
/// \brief The axis of the joint in global coordinates /// \brief The axis of the joint in global coordinates
/// ///
/// \param[in] axis the axis to get /// \param[in] axis the axis to get
virtual Vector GetAxis(int axis = 0) const; virtual Vector GetAxis(int axis = 0) const;
 End of changes. 1 change blocks. 
1 lines changed or deleted 1 lines changed or added


 openrave.h   openrave.h 
skipping to change at line 323 skipping to change at line 323
}; };
#define OPENRAVECOLOR_FATALLEVEL 5 // magenta #define OPENRAVECOLOR_FATALLEVEL 5 // magenta
#define OPENRAVECOLOR_ERRORLEVEL 1 // red #define OPENRAVECOLOR_ERRORLEVEL 1 // red
#define OPENRAVECOLOR_WARNLEVEL 3 // yellow #define OPENRAVECOLOR_WARNLEVEL 3 // yellow
#define OPENRAVECOLOR_INFOLEVEL 0 // black #define OPENRAVECOLOR_INFOLEVEL 0 // black
#define OPENRAVECOLOR_DEBUGLEVEL 2 // green #define OPENRAVECOLOR_DEBUGLEVEL 2 // green
#define OPENRAVECOLOR_VERBOSELEVEL 4 // blue #define OPENRAVECOLOR_VERBOSELEVEL 4 // blue
/// \brief Sets the global openrave debug level. A combination of \ref Debu gLevel /// \brief Sets the global openrave debug level. A combination of \ref Debu gLevel
OPENRAVE_API void RaveSetDebugLevel(uint32_t level); OPENRAVE_API void RaveSetDebugLevel(int level);
/// Returns the openrave debug level /// Returns the openrave debug level
OPENRAVE_API int RaveGetDebugLevel(); OPENRAVE_API int RaveGetDebugLevel();
/// extracts only the filename /// extracts only the filename
inline const char* RaveGetSourceFilename(const char* pfilename) inline const char* RaveGetSourceFilename(const char* pfilename)
{ {
if( pfilename == NULL ) { if( pfilename == NULL ) {
return ""; return "";
} }
skipping to change at line 1214 skipping to change at line 1214
case PT_CollisionChecker: return OPENRAVE_COLLISIONCHECKER_HASH; case PT_CollisionChecker: return OPENRAVE_COLLISIONCHECKER_HASH;
case PT_Trajectory: return OPENRAVE_TRAJECTORY_HASH; case PT_Trajectory: return OPENRAVE_TRAJECTORY_HASH;
case PT_Viewer: return OPENRAVE_VIEWER_HASH; case PT_Viewer: return OPENRAVE_VIEWER_HASH;
case PT_SpaceSampler: return OPENRAVE_SPACESAMPLER_HASH; case PT_SpaceSampler: return OPENRAVE_SPACESAMPLER_HASH;
default: default:
throw openrave_exception("failed to find openrave interface type",O RE_InvalidArguments); throw openrave_exception("failed to find openrave interface type",O RE_InvalidArguments);
return NULL; return NULL;
} }
} }
/// safely casts from the base interface class to an openrave interface usi /// \brief Safely casts from the base interface class to an openrave interf
ng static_pointer_cast. ace using static_pointer_cast.
///
/// The reason why dynamic_pointer_cast cannot be used is because interface s might be created by different plugins, and the runtime type information w ill be different. /// The reason why dynamic_pointer_cast cannot be used is because interface s might be created by different plugins, and the runtime type information w ill be different.
template <typename T> template <typename T>
inline boost::shared_ptr<T> RaveInterfaceCast(InterfaceBasePtr pinterface) inline boost::shared_ptr<T> RaveInterfaceCast(InterfaceBasePtr pinterface)
{ {
if( !!pinterface ) { if( !!pinterface ) {
if( pinterface->GetInterfaceType() == T::GetInterfaceTypeStatic() ) { if( pinterface->GetInterfaceType() == T::GetInterfaceTypeStatic() ) {
return boost::static_pointer_cast<T>(pinterface); return boost::static_pointer_cast<T>(pinterface);
} }
// encode special cases // encode special cases
if((pinterface->GetInterfaceType() == PT_Robot)&&(T::GetInterfaceTy peStatic() == PT_KinBody)) { if((pinterface->GetInterfaceType() == PT_Robot)&&(T::GetInterfaceTy peStatic() == PT_KinBody)) {
return boost::static_pointer_cast<T>(pinterface); return boost::static_pointer_cast<T>(pinterface);
} }
} }
return boost::shared_ptr<T>(); return boost::shared_ptr<T>();
} }
/// safely casts from the base interface class to an openrave interface usi /// \brief Safely casts from the base interface class to an openrave interf
ng static_pointer_cast. ace using static_pointer_cast.
///
/// The reason why dynamic_pointer_cast cannot be used is because interface s might be created by different plugins, and the runtime type information w ill be different. /// The reason why dynamic_pointer_cast cannot be used is because interface s might be created by different plugins, and the runtime type information w ill be different.
template <typename T> template <typename T>
inline boost::shared_ptr<T const> RaveInterfaceConstCast(InterfaceBaseConst Ptr pinterface) inline boost::shared_ptr<T const> RaveInterfaceConstCast(InterfaceBaseConst Ptr pinterface)
{ {
if( !!pinterface ) { if( !!pinterface ) {
if( pinterface->GetInterfaceType() == T::GetInterfaceTypeStatic() ) { if( pinterface->GetInterfaceType() == T::GetInterfaceTypeStatic() ) {
return boost::static_pointer_cast<T const>(pinterface); return boost::static_pointer_cast<T const>(pinterface);
} }
// encode special cases // encode special cases
if((pinterface->GetInterfaceType() == PT_Robot)&&(T::GetInterfaceTy peStatic() == PT_KinBody)) { if((pinterface->GetInterfaceType() == PT_Robot)&&(T::GetInterfaceTy peStatic() == PT_KinBody)) {
skipping to change at line 1274 skipping to change at line 1276
/// \return a non-empty string if a file could be found. /// \return a non-empty string if a file could be found.
OPENRAVE_API std::string RaveFindDatabaseFile(const std::string& filename, bool bRead=true); OPENRAVE_API std::string RaveFindDatabaseFile(const std::string& filename, bool bRead=true);
/// \brief Explicitly initializes the global OpenRAVE state (optional). /// \brief Explicitly initializes the global OpenRAVE state (optional).
/// ///
/// Optional function to initialize openrave plugins and logging. /// Optional function to initialize openrave plugins and logging.
/// Although environment creation will automatically make sure this functio n is called, users might want /// Although environment creation will automatically make sure this functio n is called, users might want
/// explicit control of when this happens. /// explicit control of when this happens.
/// \param bLoadAllPlugins If true will load all the openrave plugins autom atically that can be found in the OPENRAVE_PLUGINS environment path /// \param bLoadAllPlugins If true will load all the openrave plugins autom atically that can be found in the OPENRAVE_PLUGINS environment path
/// \return 0 if successful, otherwise an error code /// \return 0 if successful, otherwise an error code
OPENRAVE_API int RaveInitialize(bool bLoadAllPlugins=true, uint32_t level = Level_Info); OPENRAVE_API int RaveInitialize(bool bLoadAllPlugins=true, int level = Leve l_Info);
/// \brief Initializes the global state from an already loaded OpenRAVE env ironment. /// \brief Initializes the global state from an already loaded OpenRAVE env ironment.
/// ///
/// Because of shared object boundaries, it is necessary to pass the global state pointer /// Because of shared object boundaries, it is necessary to pass the global state pointer
/// around. If using plugin.h, this function is automatically called by \re f CreateInterfaceValidated. /// around. If using plugin.h, this function is automatically called by \re f CreateInterfaceValidated.
/// It is also called by and every InterfaceBase constructor. /// It is also called by and every InterfaceBase constructor.
/// \param[in] globalstate /// \param[in] globalstate
OPENRAVE_API void RaveInitializeFromState(UserDataPtr globalstate); OPENRAVE_API void RaveInitializeFromState(UserDataPtr globalstate);
/// \brief A pointer to the global openrave state /// \brief A pointer to the global openrave state
 End of changes. 4 change blocks. 
6 lines changed or deleted 8 lines changed or added

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