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/* Author: Steve Peters */

#ifndef URDF_MODEL_TYPES_H
#define URDF_MODEL_TYPES_H

#include <memory>

#define URDF_TYPEDEF_CLASS_POINTER(Class) \
class Class; \
typedef std::shared_ptr<Class> Class##SharedPtr; \
typedef std::shared_ptr<const Class> Class##ConstSharedPtr; \
typedef std::weak_ptr<Class> Class##WeakPtr

namespace urdf{

// shared pointer used in joint.h
typedef std::shared_ptr<double> DoubleSharedPtr;

URDF_TYPEDEF_CLASS_POINTER(Box);
URDF_TYPEDEF_CLASS_POINTER(Collision);
URDF_TYPEDEF_CLASS_POINTER(Cylinder);
URDF_TYPEDEF_CLASS_POINTER(Geometry);
URDF_TYPEDEF_CLASS_POINTER(Inertial);
URDF_TYPEDEF_CLASS_POINTER(Joint);
URDF_TYPEDEF_CLASS_POINTER(JointCalibration);
URDF_TYPEDEF_CLASS_POINTER(JointDynamics);
URDF_TYPEDEF_CLASS_POINTER(JointLimits);
URDF_TYPEDEF_CLASS_POINTER(JointMimic);
URDF_TYPEDEF_CLASS_POINTER(JointSafety);
URDF_TYPEDEF_CLASS_POINTER(Link);
URDF_TYPEDEF_CLASS_POINTER(Material);
URDF_TYPEDEF_CLASS_POINTER(Mesh);
URDF_TYPEDEF_CLASS_POINTER(Sphere);
URDF_TYPEDEF_CLASS_POINTER(Visual);

// create *_pointer_cast functions in urdf namespace
template<class T, class U>
std::shared_ptr<T> const_pointer_cast(std::shared_ptr<U> const & r)
{
  return std::const_pointer_cast<T>(r);
}

template<class T, class U>
std::shared_ptr<T> dynamic_pointer_cast(std::shared_ptr<U> const & r)
{
  return std::dynamic_pointer_cast<T>(r);
}

template<class T, class U>
std::shared_ptr<T> static_pointer_cast(std::shared_ptr<U> const & r)
{
  return std::static_pointer_cast<T>(r);
}

}

#endif
