Support urdfdom_headers 1.0

[jslee02]

urdfdom_headers 1.0 is released with API changes. The major change was replacing boost with C++11, which is a relatively small change.

This pull request adds support of urdfdom_headers 1.0 using different type aliasings depending on the urdfdom_headers versions.

This should fix the build failures on Ubuntu yakkety.

---

This change is

[scpeters]

shouldn't this third part also have URDFDOM_HEADERS_MAJOR_VERSION >= x?

[jslee02]

If I understand your question correctly, it actually has URDFDOM_HEADERS_MAJOR_VERSION >= x. If it is reached to the last part (i.e., URDFDOM_HEADERS_PATCH_VERSION >= z), that means it's the case of URDFDOM_HEADERS_MAJOR_VERSION >= x AND URDFDOM_HEADERS_MINOR_VERSION >= y.

The logic expressed in C++ would be like:

if (major > x)
{
  return true;
}
else if (major >= x)
{
  if (minor > y)
  {
    return true;
  }
  else if (minor >= y)
  {
    // the third part
    if (patch >= z)
      return true;
    else
      return false;
  }
  else
  {
    return false;
  }
}
else
{
  return false;
}

I borrowed this from Eigen, but yeah it's pretty confusing.

[scpeters]

thanks for the explanation. I guess I don't remember the order of precedence between || and && operators