moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83

3rdParty/include/cppunit/plugin/DynamicLibraryManager.h

@@ -0,0 +1,121 @@
+#ifndef CPPUNIT_PLUGIN_DYNAMICLIBRARYMANAGER_H
+#define CPPUNIT_PLUGIN_DYNAMICLIBRARYMANAGER_H
+
+#include <cppunit/Portability.h>
+#include <string>
+
+#if !defined(CPPUNIT_NO_TESTPLUGIN)
+
+CPPUNIT_NS_BEGIN
+
+
+/*! \brief Manages dynamic libraries.
+ *
+ * The Dynamic Library Manager provides a platform independent way to work with
+ * dynamic library. It load a specific dynamic library, and can returns specific
+ * symbol exported by the dynamic library.
+ *
+ * If an error occurs, a DynamicLibraryManagerException is thrown.
+ *
+ * \internal Implementation of the OS independent methods is in 
+ * DynamicLibraryManager.cpp.
+ *
+ * \internal Porting to a new platform:
+ * - Adds platform detection in config/SelectDllLoader.h. Should define a specific
+ *   macro for that platform of the form: CPPUNIT_HAVE_XYZ_DLL_LOADER, where
+ *   XYZ is the platform.
+ * - Makes a copy of UnixDynamicLibraryManager.cpp and named it after the platform.
+ * - Updated the 'guard' in your file (CPPUNIT_HAVE_XYZ_DLL_LOADER) so that it is
+ *   only processed if the matching platform has been detected.
+ * - Change the implementation of methods doLoadLibrary(), doReleaseLibrary(), 
+ *   doFindSymbol() in your copy. Those methods usually maps directly to OS calls.
+ * - Adds the file to the project.
+ */
+class DynamicLibraryManager
+{
+public:
+  typedef void *Symbol;
+  typedef void *LibraryHandle;
+
+  /*! \brief Loads the specified library.
+   * \param libraryFileName Name of the library to load.
+   * \exception DynamicLibraryManagerException if a failure occurs while loading
+   *            the library (fail to found or load the library).
+   */
+  DynamicLibraryManager( const std::string &libraryFileName );
+
+  /// Releases the loaded library..
+  ~DynamicLibraryManager();
+
+  /*! \brief Returns a pointer on the specified symbol exported by the library.
+   * \param symbol Name of the symbol exported by the library.
+   * \return Pointer on the symbol. Should be casted to the actual type. Never \c NULL.
+   * \exception DynamicLibraryManagerException if the symbol is not found.
+   */
+  Symbol findSymbol( const std::string &symbol );
+
+private:
+  /*! Loads the specified library.
+   * \param libraryName Name of the library to load.
+   * \exception DynamicLibraryManagerException if a failure occurs while loading
+   *            the library (fail to found or load the library).
+   */
+  void loadLibrary( const std::string &libraryName );
+
+  /*! Releases the loaded library.
+   * 
+   * \warning Must NOT throw any exceptions (called from destructor).
+   */
+  void releaseLibrary();
+
+  /*! Loads the specified library.
+   * 
+   * May throw any exceptions (indicates failure).
+   * \param libraryName Name of the library to load.
+   * \return Handle of the loaded library. \c NULL indicates failure.
+   */
+  LibraryHandle doLoadLibrary( const std::string &libraryName );
+
+  /*! Releases the loaded library.
+   *
+   * The handle of the library to free is in \c m_libraryHandle. It is never
+   * \c NULL.
+   * \warning Must NOT throw any exceptions (called from destructor).
+   */
+  void doReleaseLibrary();
+
+  /*! Returns a pointer on the specified symbol exported by the library.
+   * 
+   * May throw any exceptions (indicates failure).
+   * \param symbol Name of the symbol exported by the library.
+   * \return Pointer on the symbol. \c NULL indicates failure.
+   */
+  Symbol doFindSymbol( const std::string &symbol );
+
+  /*! Returns detailed information about doLoadLibrary() failure.
+   *
+   * Called just after a failed call to doLoadLibrary() to get extra
+   * error information.
+   *
+   * \return Detailed information about the failure of the call to
+   *         doLoadLibrary() that just failed.
+   */
+  std::string getLastErrorDetail() const;
+
+  /// Prevents the use of the copy constructor.
+  DynamicLibraryManager( const DynamicLibraryManager &copy );
+
+  /// Prevents the use of the copy operator.
+  void operator =( const DynamicLibraryManager &copy );
+
+private:
+  LibraryHandle m_libraryHandle;
+  std::string m_libraryName;
+};
+
+
+CPPUNIT_NS_END
+
+#endif // !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#endif  // CPPUNIT_PLUGIN_DYNAMICLIBRARYMANAGER_H

3rdParty/include/cppunit/plugin/DynamicLibraryManagerException.h

@@ -0,0 +1,53 @@
+#ifndef CPPUNIT_PLUGIN_DYNAMICLIBRARYMANAGEREXCEPTION_H
+#define CPPUNIT_PLUGIN_DYNAMICLIBRARYMANAGEREXCEPTION_H
+
+#include <cppunit/Portability.h>
+
+#if !defined(CPPUNIT_NO_TESTPLUGIN)
+#include <stdexcept>
+#include <string>
+
+
+CPPUNIT_NS_BEGIN
+
+
+/*! \brief Exception thrown by DynamicLibraryManager when a failure occurs.
+ *
+ * Use getCause() to know what function caused the failure.
+ *
+ */
+class DynamicLibraryManagerException : public std::runtime_error
+{
+public:
+  enum Cause
+  {
+    /// Failed to load the dynamic library
+    loadingFailed =0,
+    /// Symbol not found in the dynamic library
+    symbolNotFound
+  };
+
+  /// Failed to load the dynamic library or Symbol not found in the dynamic library.
+  DynamicLibraryManagerException( const std::string &libraryName,
+                                  const std::string &errorDetail,
+                                  Cause cause );
+
+  ~DynamicLibraryManagerException() throw()
+  {
+  }
+
+  Cause getCause() const;
+
+  const char *what() const throw();
+
+private:
+  std::string m_message;
+  Cause m_cause;
+};
+
+
+CPPUNIT_NS_END
+
+#endif // !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#endif  // CPPUNIT_PLUGIN_DYNAMICLIBRARYMANAGEREXCEPTION_H

3rdParty/include/cppunit/plugin/PlugInManager.h

@@ -0,0 +1,113 @@
+#ifndef CPPUNIT_PLUGIN_PLUGINMANAGER_H
+#define CPPUNIT_PLUGIN_PLUGINMANAGER_H
+
+#include <cppunit/Portability.h>
+
+#if !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#if CPPUNIT_NEED_DLL_DECL
+#pragma warning( push )
+#pragma warning( disable: 4251 )  // X needs to have dll-interface to be used by clients of class Z
+#endif
+
+#include <cppunit/plugin/PlugInParameters.h>
+struct CppUnitTestPlugIn;
+
+CPPUNIT_NS_BEGIN
+
+
+class DynamicLibraryManager;
+class TestResult;
+class XmlOutputter;
+
+
+/*! \brief Manges TestPlugIn.
+ */
+class CPPUNIT_API PlugInManager
+{
+public:
+  /*! Constructs a PlugInManager object.
+   */
+  PlugInManager();
+
+  /// Destructor.
+  virtual ~PlugInManager();
+
+  /*! \brief Loads the specified plug-in.
+   *
+   * After being loaded, the CppUnitTestPlugIn::initialize() is called.
+   *
+   * \param libraryFileName Name of the file that contains the TestPlugIn.
+   * \param parameters List of string passed to the plug-in.
+   * \return Pointer on the DynamicLibraryManager associated to the library.
+   *         Valid until the library is unloaded. Never \c NULL.
+   * \exception DynamicLibraryManagerException is thrown if an error occurs during loading.
+   */
+  void load( const std::string &libraryFileName,
+             const PlugInParameters &parameters = PlugInParameters() );
+
+  /*! \brief Unloads the specified plug-in.
+   * \param libraryFileName Name of the file that contains the TestPlugIn passed
+   *                        to a previous call to load().
+   */
+  void unload( const std::string &libraryFileName );
+
+  /*! \brief Gives a chance to each loaded plug-in to register TestListener.
+   *
+   * For each plug-in, call CppUnitTestPlugIn::addListener().
+   */
+  void addListener( TestResult *eventManager );
+
+  /*! \brief Gives a chance to each loaded plug-in to unregister TestListener.
+   * For each plug-in, call CppUnitTestPlugIn::removeListener().
+   */
+  void removeListener( TestResult *eventManager );
+
+  /*! \brief Provides a way for the plug-in to register some XmlOutputterHook.
+   */
+  void addXmlOutputterHooks( XmlOutputter *outputter );
+
+  /*! \brief Called when the XmlOutputter is destroyed.
+   * 
+   * Can be used to free some resources allocated by addXmlOutputterHooks().
+   */
+  void removeXmlOutputterHooks();
+
+protected:
+  /*! \brief (INTERNAL) Information about a specific plug-in.
+   */
+  struct PlugInInfo
+  {
+    std::string m_fileName;
+    DynamicLibraryManager *m_manager;
+    CppUnitTestPlugIn *m_interface;
+  };
+
+  /*! Unloads the specified plug-in.
+   * \param plugIn Information about the plug-in.
+   */
+  void unload( PlugInInfo &plugIn );
+
+private:
+  /// Prevents the use of the copy constructor.
+  PlugInManager( const PlugInManager &copy );
+
+  /// Prevents the use of the copy operator.
+  void operator =( const PlugInManager &copy );
+
+private:
+  typedef CppUnitDeque<PlugInInfo> PlugIns;
+  PlugIns m_plugIns;
+};
+
+
+CPPUNIT_NS_END
+
+#if CPPUNIT_NEED_DLL_DECL
+#pragma warning( pop )
+#endif
+
+#endif // !defined(CPPUNIT_NO_TESTPLUGIN)
+
+
+#endif  // CPPUNIT_PLUGIN_PLUGINMANAGER_H

3rdParty/include/cppunit/plugin/PlugInParameters.h

@@ -0,0 +1,36 @@
+#ifndef CPPUNIT_PLUGIN_PARAMETERS
+#define CPPUNIT_PLUGIN_PARAMETERS
+
+#include <cppunit/Portability.h>
+
+#if !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#include <cppunit/portability/CppUnitDeque.h>
+#include <string>
+
+CPPUNIT_NS_BEGIN
+
+/*! \brief Test plug-ins parameters.
+ */
+class CPPUNIT_API PlugInParameters
+{
+public:
+  /// Constructs plug-in parameters from the specified command-line.
+  PlugInParameters( const std::string &commandLine = "" );
+
+  virtual ~PlugInParameters();
+
+  /// Returns the command line that was passed on construction.
+  std::string getCommandLine() const;
+
+private:
+  std::string m_commandLine;
+};
+
+
+CPPUNIT_NS_END
+
+#endif // !defined(CPPUNIT_NO_TESTPLUGIN)
+
+
+#endif // CPPUNIT_PLUGIN_PARAMETERS

3rdParty/include/cppunit/plugin/TestPlugIn.h

@@ -0,0 +1,200 @@
+#ifndef CPPUNIT_PLUGIN_TESTPLUGIN
+#define CPPUNIT_PLUGIN_TESTPLUGIN
+
+#include <cppunit/Portability.h>
+
+#if !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#include <cppunit/plugin/PlugInParameters.h>
+
+CPPUNIT_NS_BEGIN
+
+
+class Test;
+class TestFactoryRegistry;
+class TestResult;
+class XmlOutputter;
+
+CPPUNIT_NS_END
+
+/*! \file
+ */
+
+
+/*! \brief Test plug-in interface.
+ * \ingroup WritingTestPlugIn
+ *
+ * This class define the interface implemented by test plug-in. A pointer to that
+ * interface is returned by the function exported by the test plug-in.
+ *
+ * Plug-in are loaded/unloaded by PlugInManager. When a plug-in is loaded, 
+ * initialize() is called. Before unloading the plug-in, the PlugInManager
+ * call uninitialize().
+ *
+ * addListener() and removeListener() are called respectively before and after
+ * the test run.
+ *
+ * addXmlOutputterHooks() and removeXmlOutputterHooks() are called respectively
+ * before and after writing the XML output using a XmlOutputter.
+ *
+ * \see CPPUNIT_PLUGIN_IMPLEMENT, CPPUNIT_PLUGIN_EXPORTED_FUNCTION_IMPL
+ * \see CppUnit::TestPlugInDefaultImpl, CppUnit::XmlOutputter.
+ */
+struct CppUnitTestPlugIn
+{
+  /*! \brief Called just after loading the dynamic library. 
+   *
+   * Override this method to add additional suite to the registry, though this
+   * is preferably done using the macros (CPPUNIT_TEST_SUITE_REGISTRATION...).
+   * If you are creating a custom listener to extends the plug-in runner,
+   * you can use this to configure the listener using the \a parameters.
+   *
+   * You could also use the parameters to specify some global parameter, such
+   * as test datas location, database name...
+   *
+   * N.B.: Parameters interface is not define yet, and the plug-in runner does
+   * not yet support plug-in parameter.
+   */
+  virtual void initialize( CPPUNIT_NS::TestFactoryRegistry *registry,
+                           const CPPUNIT_NS::PlugInParameters &parameters ) =0;
+
+  /*! \brief Gives a chance to the plug-in to register TestListener.
+   * 
+   * Override this method to add a TestListener for the test run. This is useful
+   * if you are writing a custom TestListener, but also if you need to
+   * setUp some global resource: listen to TestListener::startTestRun(), 
+   * and TestListener::endTestRun().
+   */
+  virtual void addListener( CPPUNIT_NS::TestResult *eventManager ) =0;
+
+  /*! \brief Gives a chance to the plug-in to remove its registered TestListener.
+   *
+   * Override this method to remove a TestListener that has been added.
+   */
+  virtual void removeListener( CPPUNIT_NS::TestResult *eventManager ) =0;
+
+  /*! \brief Provides a way for the plug-in to register some XmlOutputterHook.
+   */
+  virtual void addXmlOutputterHooks( CPPUNIT_NS::XmlOutputter *outputter ) =0;
+
+  /*! \brief Called when the XmlOutputter is destroyed.
+   * 
+   * Can be used to free some resources allocated by addXmlOutputterHooks().
+   */
+  virtual void removeXmlOutputterHooks() = 0;
+
+  /*! \brief Called just before unloading the dynamic library.
+   * 
+   * Override this method to unregister test factory added in initialize().
+   * This is necessary to keep the TestFactoryRegistry 'clean'. When
+   * the plug-in is unloaded from memory, the TestFactoryRegistry will hold
+   * reference on test that are no longer available if they are not 
+   * unregistered.
+   */
+  virtual void uninitialize( CPPUNIT_NS::TestFactoryRegistry *registry ) =0;
+
+  virtual ~CppUnitTestPlugIn() {}
+};
+
+
+
+/*! \brief Name of the function exported by a test plug-in.
+ * \ingroup WritingTestPlugIn
+ *
+ * The signature of the exported function is:
+ * \code
+ * CppUnitTestPlugIn *CPPUNIT_PLUGIN_EXPORTED_NAME(void);
+ * \endcode
+ */
+#define CPPUNIT_PLUGIN_EXPORTED_NAME cppunitTestPlugIn
+
+/*! \brief Type of the function exported by a plug-in.
+ * \ingroup WritingTestPlugIn
+ */
+typedef CppUnitTestPlugIn *(*TestPlugInSignature)();
+
+
+/*! \brief Implements the function exported by the test plug-in
+ * \ingroup WritingTestPlugIn
+ */
+#define CPPUNIT_PLUGIN_EXPORTED_FUNCTION_IMPL( TestPlugInInterfaceType )       \
+  CPPUNIT_PLUGIN_EXPORT CppUnitTestPlugIn *CPPUNIT_PLUGIN_EXPORTED_NAME(void)  \
+  {                                                                            \
+    static TestPlugInInterfaceType plugIn;                                     \
+    return &plugIn;                                                            \
+  }                                                                            \
+  typedef char __CppUnitPlugInExportFunctionDummyTypeDef  // dummy typedef so it can end with ';'
+
+
+// Note: This include should remain after definition of CppUnitTestPlugIn
+#include <cppunit/plugin/TestPlugInDefaultImpl.h>
+
+
+/*! \def CPPUNIT_PLUGIN_IMPLEMENT_MAIN()
+ * \brief Implements the 'main' function for the plug-in.
+ *
+ * This macros implements the main() function for dynamic library.
+ * For example, WIN32 requires a DllMain function, while some Unix 
+ * requires a main() function. This macros takes care of the implementation.
+ */
+
+// Win32
+#if defined(CPPUNIT_HAVE_WIN32_DLL_LOADER)
+#if !defined(APIENTRY)
+#define WIN32_LEAN_AND_MEAN 
+#define NOGDI
+#define NOUSER
+#define NOKERNEL
+#define NOSOUND
+#define NOMINMAX
+#define BLENDFUNCTION void    // for mingw & gcc
+#include <windows.h>
+#endif
+#define CPPUNIT_PLUGIN_IMPLEMENT_MAIN()               \
+  BOOL APIENTRY DllMain( HANDLE hModule,              \
+                         DWORD  ul_reason_for_call,   \
+                         LPVOID lpReserved )          \
+  {                                                   \
+      return TRUE;                                    \
+  }                                                   \
+  typedef char __CppUnitPlugInImplementMainDummyTypeDef
+
+// Unix
+#elif defined(CPPUNIT_HAVE_UNIX_DLL_LOADER) || defined(CPPUNIT_HAVE_UNIX_SHL_LOADER)
+#define CPPUNIT_PLUGIN_IMPLEMENT_MAIN()               \
+  int main( int argc, char *argv[] )                  \
+  {                                                   \
+    return 0;                                         \
+  }                                                   \
+  typedef char __CppUnitPlugInImplementMainDummyTypeDef
+
+
+// Other
+#else     // other platforms don't require anything specifics
+#endif
+
+
+
+/*! \brief Implements and exports the test plug-in interface.
+ * \ingroup WritingTestPlugIn
+ *
+ * This macro exports the test plug-in function using the subclass, 
+ * and implements the 'main' function for the plug-in using 
+ * CPPUNIT_PLUGIN_IMPLEMENT_MAIN().
+ *
+ * When using this macro, CppUnit must be linked as a DLL (shared library).
+ * Otherwise, tests registered to the TestFactoryRegistry in the DLL will 
+ * not be visible to the DllPlugInTester.
+ *
+ * \see CppUnitTestPlugIn
+ * \see CPPUNIT_PLUGIN_EXPORTED_FUNCTION_IMPL(), CPPUNIT_PLUGIN_IMPLEMENT_MAIN().
+ */
+#define CPPUNIT_PLUGIN_IMPLEMENT()                                          \
+  CPPUNIT_PLUGIN_EXPORTED_FUNCTION_IMPL( CPPUNIT_NS::TestPlugInDefaultImpl );  \
+  CPPUNIT_PLUGIN_IMPLEMENT_MAIN()
+
+
+#endif // !defined(CPPUNIT_NO_TESTPLUGIN)
+
+
+#endif // CPPUNIT_PLUGIN_TESTPLUGIN

3rdParty/include/cppunit/plugin/TestPlugInDefaultImpl.h

@@ -0,0 +1,52 @@
+#ifndef CPPUNIT_PLUGIN_TESTPLUGINADAPTER
+#define CPPUNIT_PLUGIN_TESTPLUGINADAPTER
+
+#include <cppunit/Portability.h>
+
+#if !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#include <cppunit/plugin/TestPlugIn.h>
+
+CPPUNIT_NS_BEGIN
+
+
+class TestSuite;
+
+
+/*! \brief Default implementation of test plug-in interface.
+ * \ingroup WritingTestPlugIn
+ *
+ * Override getSuiteName() to specify the suite name. Default is "All Tests".
+ *
+ * CppUnitTestPlugIn::getTestSuite() returns a suite that contains
+ * all the test registered to the default test factory registry 
+ * ( TestFactoryRegistry::getRegistry() ).
+ *
+ */
+class CPPUNIT_API TestPlugInDefaultImpl : public CppUnitTestPlugIn
+{
+public:
+  TestPlugInDefaultImpl();
+
+  virtual ~TestPlugInDefaultImpl();
+
+  void initialize( TestFactoryRegistry *registry,
+                   const PlugInParameters &parameters );
+
+  void addListener( TestResult *eventManager );
+
+  void removeListener( TestResult *eventManager );
+
+  void addXmlOutputterHooks( XmlOutputter *outputter );
+
+  void removeXmlOutputterHooks();
+
+  void uninitialize( TestFactoryRegistry *registry );
+};
+
+
+CPPUNIT_NS_END
+
+#endif // !defined(CPPUNIT_NO_TESTPLUGIN)
+
+#endif // CPPUNIT_PLUGIN_TESTPLUGINADAPTER