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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;;
;;; $Id$
;;;
;;; Copyright (c) 1987- JSK, The University of Tokyo. All Rights Reserved.
;;;
;;; This software is a collection of EusLisp code for robot applications,
;;; which has been developed by the JSK Laboratory for the IRT project.
;;; For more information on EusLisp and its application to the robotics,
;;; please refer to the following papers.
;;;
;;; Toshihiro Matsui
;;; Multithread object-oriented language euslisp for parallel and
;;; asynchronous programming in robotics
;;; Workshop on Concurrent Object-based Systems,
;;; IEEE 6th Symposium on Parallel and Distributed Processing, 1994
;;;
;;; Redistribution and use in source and binary forms, with or without
;;; modification, are permitted provided that the following conditions are met:
;;;
;;; * Redistributions of source code must retain the above copyright notice,
;;; this list of conditions and the following disclaimer.
;;; * Redistributions in binary form must reproduce the above copyright notice,
;;; this list of conditions and the following disclaimer in the documentation
;;; and/or other materials provided with the distribution.
;;; * Neither the name of JSK Robotics Laboratory, The University of Tokyo
;;; (JSK) nor the names of its contributors may be used to endorse or promote
;;; products derived from this software without specific prior written
;;; permission.
;;;
;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
;;; THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
;;; PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
;;; CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
;;; EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
;;; PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
;;; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
;;; WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
;;; OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
;;; ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
;;;
(unless (find-package "COLLADA") (make-package "COLLADA")) ;; define collad package to import collada function
(defun load-irteus ()
(in-package "USER")
(load-library
"/usr/lib/@@DEB_HOST_MULTIARCH@@/jskeus/libirteus.so"
'("irtmath" "irtutil" "irtc" "irtgeoc" "irtgraph" "gnuplotlib" "___time" "___pgsql")))
(defun load-irteusg ()
(in-package "GEOMETRY")
(load-library
"/usr/lib/@@DEB_HOST_MULTIARCH@@/jskeus/libirteusg.so"
'("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada" "irtstl" "irtwrl" "irtpointcloud" "eusbullet" "bullet" "irtcollision"))
(in-package "USER")
(import '(collada::convert-irtmodel-to-collada collada::eus2collada)))
(defun load-irteusx ()
(in-package "X")
(load-library
"/usr/lib/@@DEB_HOST_MULTIARCH@@/jskeus/libirteusx.so"
'("irtx"))
(in-package "IMAGE")
(load-library
"/usr/lib/@@DEB_HOST_MULTIARCH@@/jskeus/libirteusimg.so"
'("eusjpeg" "euspng" "png" "irtimage"))
(in-package "USER")
)
(defun load-irteusgl ()
(in-package "GL")
(load-library
"/usr/lib/@@DEB_HOST_MULTIARCH@@/jskeus/libirteusgl.so"
'("irtglrgb" "irtgl" "irtglc" "irtviewer"))
)
(unless (member (pathname-name *program-name*)
(list "eus0" "eus1" "eus2" "eus" "eusx" "eusg" "eusgl" "euscomp")
:test #'string=)
(when (substringp "eus" (pathname-name *program-name*))
(load-irteus))
(when (or (substringp "eusg" (pathname-name *program-name*))
(substringp "eusx" (pathname-name *program-name*)))
(load-irteusg))
(when (or (substringp "eusx" (pathname-name *program-name*))
(substringp "eusgl" (pathname-name *program-name*)))
(load-irteusx))
(when (substringp "eusgl" (pathname-name *program-name*))
(load-irteusgl))
(unless (member :irt *features*) (push :irt *features*))
)
;; add extra *load-path* for jskeus
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