Add versions to wrapper files.

mrpt-ros-pkg · Aug 17, 2016 · 8356da3 · 8356da3
1 parent 2c07b26
commit 8356da3
Show file tree

Hide file tree

Showing 3 changed files with 32 additions and 10 deletions.
diff --git a/mrpt_ekf_slam_2d/include/mrpt_ekf_slam_2d/mrpt_ekf_slam_2d_wrapper.h b/mrpt_ekf_slam_2d/include/mrpt_ekf_slam_2d/mrpt_ekf_slam_2d_wrapper.h
@@ -28,10 +28,6 @@
 #include <mrpt_bridge/landmark.h>
 #include <mrpt_bridge/mrpt_log_macros.h>
 #include <mrpt_bridge/time.h>
-#include <mrpt/obs/CObservationOdometry.h>
-#include <mrpt/obs/CActionRobotMovement2D.h>
-#include <mrpt/obs/CActionRobotMovement3D.h>
-#include <mrpt/obs/CRawlog.h>
 #include <mrpt/utils/CFileGZInputStream.h>
 #include <mrpt/utils/CFileGZOutputStream.h>
 #include <mrpt/utils/CConfigFile.h>
@@ -47,6 +43,21 @@
 #include <mrpt/opengl/stock_objects.h>
 #include <mrpt_msgs/ObservationRangeBearing.h>
 
+#if MRPT_VERSION>=0x130
+# include <mrpt/obs/CObservationOdometry.h>
+# include <mrpt/obs/CActionRobotMovement2D.h>
+# include <mrpt/obs/CActionRobotMovement3D.h>
+# include <mrpt/obs/CRawlog.h>
+  using namespace mrpt::maps;
+  using namespace mrpt::obs;
+#else
+# include <mrpt/slam/CObservationOdometry.h>
+# include <mrpt/slam/CActionRobotMovement2D.h>
+# include <mrpt/slam/CActionRobotMovement3D.h>
+# include <mrpt/slam/CRawlog.h>
+#endif
+
+
 /**
  * @brief The EKFslamWrapper class provides  the ROS wrapper for EKF SLAM 2d from MRPT libraries. 
  *   

diff --git a/mrpt_ekf_slam_3d/include/mrpt_ekf_slam_3d/mrpt_ekf_slam_3d_wrapper.h b/mrpt_ekf_slam_3d/include/mrpt_ekf_slam_3d/mrpt_ekf_slam_3d_wrapper.h
@@ -15,7 +15,7 @@
 #include <ros/package.h>
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
-#include <tf_conversions/tf_eigen.h>
+//#include <tf_conversions/tf_eigen.h>
 #include "Eigen/Core"
 #include "Eigen/Geometry"
 //add ros msgs
@@ -30,10 +30,6 @@
 #include <mrpt_bridge/landmark.h>
 #include <mrpt_bridge/mrpt_log_macros.h>
 #include <mrpt_bridge/time.h>
-#include <mrpt/obs/CObservationOdometry.h>
-#include <mrpt/obs/CActionRobotMovement2D.h>
-#include <mrpt/obs/CActionRobotMovement3D.h>
-#include <mrpt/obs/CRawlog.h>
 #include <mrpt/utils/CFileGZInputStream.h>
 #include <mrpt/utils/CFileGZOutputStream.h>
 #include <mrpt/utils/CConfigFile.h>
@@ -48,6 +44,21 @@
 #include <mrpt/opengl/CEllipsoid.h>
 #include <mrpt/opengl/stock_objects.h>
 #include <mrpt_msgs/ObservationRangeBearing.h>
+
+ #if MRPT_VERSION>=0x130
+# include <mrpt/obs/CActionRobotMovement2D.h>
+# include <mrpt/obs/CActionRobotMovement3D.h>
+# include <mrpt/obs/CObservationOdometry.h>
+# include <mrpt/obs/CRawlog.h>
+  using namespace mrpt::maps;
+  using namespace mrpt::obs;
+#else
+# include <mrpt/slam/CActionRobotMovement2D.h>
+# include <mrpt/slam/CActionRobotMovement3D.h>
+# include <mrpt/slam/CObservationOdometry.h>
+# include <mrpt/slam/CRawlog.h>
+#endif
+
 /**
  * @brief The EKFslamWrapper class provides  the ROS wrapper for EKF SLAM 3d from MRPT libraries. 
  *   

diff --git a/mrpt_icp_slam_2d/include/mrpt_icp_slam_2d/mrpt_icp_slam_2d_wrapper.h b/mrpt_icp_slam_2d/include/mrpt_icp_slam_2d/mrpt_icp_slam_2d_wrapper.h
@@ -204,7 +204,7 @@ class ICPslamWrapper {
 
     mrpt::gui::CDisplayWindow3DPtr	win3D_;///<MRPT window
 
-std::vector<mrpt::obs::CObservation2DRangeScanPtr> lst_current_laser_scans;
+std::vector<CObservation2DRangeScanPtr> lst_current_laser_scans;
     bool isObsBasedRawlog;
     bool 	SHOW_PROGRESS_3D_REAL_TIME ;
     int		SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS;