Fix KDL_VERSION test

ubi-agni · Dec 20, 2024 · c53601d · c53601d
1 parent 4b0145f
commit c53601d
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp
@@ -32,7 +32,9 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
+#include <kdl/config.h>
 #include "pilz_industrial_motion_planner/path_circle_generator.h"
+#define KDL_VERSION_LESS(a, b, c) ((KDL_VERSION) < ((a << 16) | (b << 8) | c))
 
 namespace pilz_industrial_motion_planner
 {
@@ -65,9 +67,8 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromCenter(const KDL::Fram
   }
   catch (KDL::Error_MotionPlanning&)
   {
-#if KDL_VERSION < ((1 << 16) | (4 << 8) | 1)  // older than 1.4.1 ?
-    delete rot_interpo;                       // in case we could not construct the Path object,
-                                              // avoid a memory leak
+#if KDL_VERSION_LESS(1, 4, 1)  // older than 1.4.1 ?
+    delete rot_interpo;        // in case we could not construct the Path object, avoid a memory leak
 #endif
     KDL::epsilon = old_kdl_epsilon;
     throw;  // and pass the exception on to the caller
@@ -134,9 +135,8 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromInterim(const KDL::Fra
                                       // above,
                                       // we keep these lines to be safe
   {
-#if KDL_VERSION < ((1 << 16) | (4 << 8) | 1)  // older than 1.4.1 ?
-    delete rot_interpo;                       // in case we could not construct the Path object,
-                                              // avoid a memory leak
+#if KDL_VERSION_LESS(1, 4, 1)  // older than 1.4.1 ?
+    delete rot_interpo;        // in case we could not construct the Path object, avoid a memory leak
 #endif
     throw;  // and pass the exception on to the caller
     // LCOV_EXCL_STOP