amino.hpp

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/* -*- mode: C++; c-basic-offset: 4  -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2010-2011, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ntd@gatech.edu>
 * Georgia Tech Humanoid Robotics Lab
 * Under Direction of Prof. Mike Stilman <mstilman@cc.gatech.edu>
 *
 *
 * This file is provided under the following "BSD-style" License:
 *
 *
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 *   without modification, are permitted provided that the following
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#ifndef AMINO_HPP
#define AMINO_HPP

#include "amino.h"
#include "amino/mem.hpp"
#include "amino/tf.hpp"


//namespace amino {
//#include "amino/mat.hpp"
//}

namespace amino {

class ScopedMutex {
public:
    ScopedMutex( pthread_mutex_t *m ) :
    mutex(m)
    {
        pthread_mutex_lock(mutex);
    }
    ScopedMutex( pthread_mutex_t &m ) :
    mutex(&m)
    {
        pthread_mutex_lock(mutex);
    }
    ~ScopedMutex() {
        pthread_mutex_unlock(mutex);
    }

private:
    pthread_mutex_t *mutex;
};



template<typename T>
T next( T p )
{
    T q = p;
    q++;
    return q;
}


template<typename T>
T prev( T p )
{
    T q = p;
    q--;
    return q;
}

}

#endif //AMINO_HPP