adding newest (0.2.3) version of yaml-cpp, which has greatly improved error messages, to fix #1911

tools/rosdep/yaml-cpp/CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 2.6)
+# this makefile slightly hacked up to fit inside the rosdep project
+# see http://code.google.com/p/yaml-cpp for the original distribution
+
+project (YAML_CPP)
+
+if(CMAKE_COMPILER_IS_GNUCC)
+  set(CMAKE_CXX_FLAGS "-O2 -Wall -pedantic -Wextra ${CMAKE_CXX_FLAGS}")
+endif(CMAKE_COMPILER_IS_GNUCC)
+
+set(YAML_CPP_VERSION_MAJOR "0")
+set(YAML_CPP_VERSION_MINOR "2")
+set(YAML_CPP_VERSION_PATCH "3")
+set(YAML_CPP_VERSION "${YAML_CPP_VERSION_MAJOR}.${YAML_CPP_VERSION_MINOR}.${YAML_CPP_VERSION_PATCH}")
+
+#enable_testing()
+
+option(YAML_CPP_BUILD_TOOLS "Enables or disables yaml-reader and parse tools" true)
+
+set(INCLUDE_INSTALL_DIR include/yaml-cpp)
+set(LIB_INSTALL_DIR ${PROJECT_SOURCE_DIR}/../bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/../bin)
+
+file(GLOB public_headers include/*.h)
+file(GLOB private_headers src/*.h)
+file(GLOB sources src/*.cpp)
+
+include_directories(${YAML_CPP_SOURCE_DIR}/include)
+
+add_library(yaml-cpp
+	${LIB_TYPE}
+	${public_headers}
+	${private_headers}
+	${sources}
+)
+set_target_properties(yaml-cpp PROPERTIES
+	VERSION "${YAML_CPP_VERSION}"
+	SOVERSION "${YAML_CPP_VERSION_MAJOR}.${YAML_CPP_VERSION_MINOR}"
+)
+

tools/rosdep/yaml-cpp/README

@@ -0,0 +1,11 @@
+This version of yaml-cpp 0.2.3 is slightly hacked up from the original
+distribution; all I did was tweak the CMakeLists.txt file so it builds staticly
+with rosdep. Since this is the dependency bootstrapper of ROS, I wanted it to
+be as simple a build process as possible. The original distribution is
+available here:
+
+http://code.google.com/p/yaml-cpp
+
+Morgan Quigley
+23 Oct 2009
+

tools/rosdep/yaml-cpp/include/conversion.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#ifndef CONVERSION_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define CONVERSION_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "null.h"
+#include <string>
+#include <sstream>
+
+namespace YAML
+{
+	inline bool Convert(const std::string& input, std::string& output) {
+		output = input;
+		return true;
+	}
+	
+	bool Convert(const std::string& input, bool& output);
+	bool Convert(const std::string& input, _Null& output);
+	
+#define YAML_MAKE_STREAM_CONVERT(type) \
+	inline bool Convert(const std::string& input, type& output) { \
+		std::stringstream stream(input); \
+		stream >> output; \
+		return !stream.fail(); \
+	}
+	
+	YAML_MAKE_STREAM_CONVERT(char)
+	YAML_MAKE_STREAM_CONVERT(unsigned char)
+	YAML_MAKE_STREAM_CONVERT(int)
+	YAML_MAKE_STREAM_CONVERT(unsigned int)
+	YAML_MAKE_STREAM_CONVERT(short)
+	YAML_MAKE_STREAM_CONVERT(unsigned short)
+	YAML_MAKE_STREAM_CONVERT(long)
+	YAML_MAKE_STREAM_CONVERT(unsigned long)
+	YAML_MAKE_STREAM_CONVERT(float)
+	YAML_MAKE_STREAM_CONVERT(double)
+	YAML_MAKE_STREAM_CONVERT(long double)
+	
+#undef YAML_MAKE_STREAM_CONVERT
+}
+
+#endif // CONVERSION_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/crt.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#ifndef CRT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define CRT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+// for detecting memory leaks
+#ifdef _DEBUG
+
+#define _CRTDBG_MAP_ALLOC
+#include <stdlib.h>
+#include <crtdbg.h>
+
+#endif // _DEBUG
+
+
+#endif // CRT_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/emitter.h

@@ -0,0 +1,95 @@
+#pragma once
+
+#ifndef EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "emittermanip.h"
+#include "ostream.h"
+#include "null.h"
+#include <memory>
+#include <string>
+
+namespace YAML
+{
+	class EmitterState;
+	
+	class Emitter
+	{
+	public:
+		Emitter();
+		~Emitter();
+		
+		// output
+		const char *c_str() const;
+		unsigned size() const;
+		
+		// state checking
+		bool good() const;
+		const std::string GetLastError() const;
+		
+		// global setters
+		bool SetOutputCharset(EMITTER_MANIP value);
+		bool SetStringFormat(EMITTER_MANIP value);
+		bool SetBoolFormat(EMITTER_MANIP value);
+		bool SetIntBase(EMITTER_MANIP value);
+		bool SetSeqFormat(EMITTER_MANIP value);
+		bool SetMapFormat(EMITTER_MANIP value);
+		bool SetIndent(unsigned n);
+		bool SetPreCommentIndent(unsigned n);
+		bool SetPostCommentIndent(unsigned n);
+		
+		// local setters
+		Emitter& SetLocalValue(EMITTER_MANIP value);
+		Emitter& SetLocalIndent(const _Indent& indent);
+		
+		// overloads of write
+		Emitter& Write(const std::string& str);
+		Emitter& Write(const char *str);
+		Emitter& Write(int i);
+		Emitter& Write(bool b);
+		Emitter& Write(float f);
+		Emitter& Write(double d);
+		Emitter& Write(const _Alias& alias);
+		Emitter& Write(const _Anchor& anchor);
+		Emitter& Write(const _Comment& comment);
+		Emitter& Write(const _Null& null);
+		
+	private:
+		enum ATOMIC_TYPE { AT_SCALAR, AT_SEQ, AT_BLOCK_SEQ, AT_FLOW_SEQ, AT_MAP, AT_BLOCK_MAP, AT_FLOW_MAP };
+		
+		void PreAtomicWrite();
+		bool GotoNextPreAtomicState();
+		void PostAtomicWrite();
+		void EmitSeparationIfNecessary();
+		
+		void EmitBeginSeq();
+		void EmitEndSeq();
+		void EmitBeginMap();
+		void EmitEndMap();
+		void EmitKey();
+		void EmitValue();
+		
+	private:
+		ostream m_stream;
+		std::auto_ptr <EmitterState> m_pState;
+	};
+	
+	// overloads of insertion
+	template <typename T>
+	inline Emitter& operator << (Emitter& emitter, T v) {
+		return emitter.Write(v);
+	}
+
+	template <>
+	inline Emitter& operator << (Emitter& emitter, EMITTER_MANIP value) {
+		return emitter.SetLocalValue(value);
+	}
+	
+	template <>
+	inline Emitter& operator << (Emitter& emitter, _Indent indent) {
+		return emitter.SetLocalIndent(indent);
+	}
+}
+
+#endif // EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/emittermanip.h

@@ -0,0 +1,94 @@
+#pragma once
+
+#ifndef EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <string>
+
+namespace YAML
+{
+	enum EMITTER_MANIP {
+		// general manipulators
+		Auto,
+
+		// output character set
+		EmitNonAscii,
+		EscapeNonAscii,
+		
+		// string manipulators
+		// Auto, // duplicate
+		SingleQuoted,
+		DoubleQuoted,
+		Literal,
+		
+		// bool manipulators
+		YesNoBool,  // yes, no
+		TrueFalseBool,  // true, false
+		OnOffBool,  // on, off
+		UpperCase,  // TRUE, N
+		LowerCase,  // f, yes
+		CamelCase,  // No, Off
+		LongBool,  // yes, On
+		ShortBool,  // y, t
+		
+		// int manipulators
+		Dec,
+		Hex,
+		Oct,
+		
+		// sequence manipulators
+		BeginSeq,
+		EndSeq,
+		Flow,
+		Block,
+		
+		// map manipulators
+		BeginMap,
+		EndMap,
+		Key,
+		Value,
+		// Flow, // duplicate
+		// Block, // duplicate
+		// Auto, // duplicate
+		LongKey
+	};
+	
+	struct _Indent {
+		_Indent(int value_): value(value_) {}
+		int value;
+	};
+	
+	inline _Indent Indent(int value) {
+		return _Indent(value);
+	}
+	
+	struct _Alias {
+		_Alias(const std::string& content_): content(content_) {}
+		std::string content;
+	};
+	
+	inline _Alias Alias(const std::string content) {
+		return _Alias(content);
+	}
+	
+	struct _Anchor {
+		_Anchor(const std::string& content_): content(content_) {}
+		std::string content;
+	};
+
+	inline _Anchor Anchor(const std::string content) {
+		return _Anchor(content);
+	}
+
+	struct _Comment {
+		_Comment(const std::string& content_): content(content_) {}
+		std::string content;
+	};
+	
+	inline _Comment Comment(const std::string content) {
+		return _Comment(content);
+	}
+}
+
+#endif // EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/exceptions.h

@@ -0,0 +1,137 @@
+#pragma once
+
+#ifndef EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "mark.h"
+#include <exception>
+#include <string>
+#include <sstream>
+
+namespace YAML
+{
+	// error messages
+	namespace ErrorMsg
+	{
+		const std::string YAML_DIRECTIVE_ARGS    = "YAML directives must have exactly one argument";
+		const std::string YAML_VERSION           = "bad YAML version: ";
+		const std::string YAML_MAJOR_VERSION     = "YAML major version too large";
+		const std::string TAG_DIRECTIVE_ARGS     = "TAG directives must have exactly two arguments";
+		const std::string END_OF_MAP             = "end of map not found";
+		const std::string END_OF_MAP_FLOW        = "end of map flow not found";
+		const std::string END_OF_SEQ             = "end of sequence not found";
+		const std::string END_OF_SEQ_FLOW        = "end of sequence flow not found";
+		const std::string MULTIPLE_TAGS          = "cannot assign multiple tags to the same node";
+		const std::string MULTIPLE_ANCHORS       = "cannot assign multiple anchors to the same node";
+		const std::string MULTIPLE_ALIASES       = "cannot assign multiple aliases to the same node";
+		const std::string ALIAS_CONTENT          = "aliases can't have any content, *including* tags";
+		const std::string INVALID_HEX            = "bad character found while scanning hex number";
+		const std::string INVALID_UNICODE        = "invalid unicode: ";
+		const std::string INVALID_ESCAPE         = "unknown escape character: ";
+		const std::string UNKNOWN_TOKEN          = "unknown token";
+		const std::string DOC_IN_SCALAR          = "illegal document indicator in scalar";
+		const std::string EOF_IN_SCALAR          = "illegal EOF in scalar";
+		const std::string CHAR_IN_SCALAR         = "illegal character in scalar";
+		const std::string TAB_IN_INDENTATION     = "illegal tab when looking for indentation";
+		const std::string FLOW_END               = "illegal flow end";
+		const std::string BLOCK_ENTRY            = "illegal block entry";
+		const std::string MAP_KEY                = "illegal map key";
+		const std::string MAP_VALUE              = "illegal map value";
+		const std::string ALIAS_NOT_FOUND        = "alias not found after *";
+		const std::string ANCHOR_NOT_FOUND       = "anchor not found after &";
+		const std::string CHAR_IN_ALIAS          = "illegal character found while scanning alias";
+		const std::string CHAR_IN_ANCHOR         = "illegal character found while scanning anchor";
+		const std::string ZERO_INDENT_IN_BLOCK   = "cannot set zero indentation for a block scalar";
+		const std::string CHAR_IN_BLOCK          = "unexpected character in block scalar";
+		const std::string AMBIGUOUS_ANCHOR     = "cannot assign the same alias to multiple nodes";
+		const std::string UNKNOWN_ANCHOR       = "the referenced anchor is not defined";
+
+		const std::string INVALID_SCALAR         = "invalid scalar";
+		const std::string KEY_NOT_FOUND          = "key not found";
+		const std::string BAD_DEREFERENCE        = "bad dereference";
+		
+		const std::string UNMATCHED_GROUP_TAG    = "unmatched group tag";
+		const std::string UNEXPECTED_END_SEQ     = "unexpected end sequence token";
+		const std::string UNEXPECTED_END_MAP     = "unexpected end map token";
+		const std::string SINGLE_QUOTED_CHAR     = "invalid character in single-quoted string";
+		const std::string INVALID_ANCHOR         = "invalid anchor";
+		const std::string INVALID_ALIAS          = "invalid alias";
+		const std::string EXPECTED_KEY_TOKEN     = "expected key token";
+		const std::string EXPECTED_VALUE_TOKEN   = "expected value token";
+		const std::string UNEXPECTED_KEY_TOKEN   = "unexpected key token";
+		const std::string UNEXPECTED_VALUE_TOKEN = "unexpected value token";
+	}
+
+	class Exception: public std::exception {
+	public:
+		Exception(const Mark& mark_, const std::string& msg_)
+			: mark(mark_), msg(msg_) {
+				std::stringstream output;
+				output << "yaml-cpp: error at line " << mark.line+1 << ", column " << mark.column+1 << ": " << msg;
+				what_ = output.str();
+			}
+		virtual ~Exception() throw() {}
+		virtual const char *what() const throw() { return what_.c_str(); }
+
+		Mark mark;
+		std::string msg;
+		
+	private:
+		std::string what_;
+	};
+
+	class ParserException: public Exception {
+	public:
+		ParserException(const Mark& mark_, const std::string& msg_)
+			: Exception(mark_, msg_) {}
+	};
+
+	class RepresentationException: public Exception {
+	public:
+		RepresentationException(const Mark& mark_, const std::string& msg_)
+			: Exception(mark_, msg_) {}
+	};
+
+	// representation exceptions
+	class InvalidScalar: public RepresentationException {
+	public:
+		InvalidScalar(const Mark& mark_)
+			: RepresentationException(mark_, ErrorMsg::INVALID_SCALAR) {}
+	};
+
+	class KeyNotFound: public RepresentationException {
+	public:
+		KeyNotFound(const Mark& mark_)
+			: RepresentationException(mark_, ErrorMsg::KEY_NOT_FOUND) {}
+	};
+
+	template <typename T>
+	class TypedKeyNotFound: public KeyNotFound {
+	public:
+		TypedKeyNotFound(const Mark& mark_, const T& key_)
+			: KeyNotFound(mark_), key(key_) {}
+		~TypedKeyNotFound() throw() {}
+
+		T key;
+	};
+
+	template <typename T>
+	TypedKeyNotFound <T> MakeTypedKeyNotFound(const Mark& mark, const T& key) {
+		return TypedKeyNotFound <T> (mark, key);
+	}
+
+	class BadDereference: public RepresentationException {
+	public:
+		BadDereference()
+		: RepresentationException(Mark::null(), ErrorMsg::BAD_DEREFERENCE) {}
+	};
+	
+	class EmitterException: public Exception {
+	public:
+		EmitterException(const std::string& msg_)
+		: Exception(Mark::null(), msg_) {}
+	};
+}
+
+#endif // EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/iterator.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#ifndef ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+namespace YAML
+{
+	class Node;
+	struct IterPriv;
+
+	class Iterator
+	{
+	public:
+		Iterator();
+		Iterator(IterPriv *pData);
+		Iterator(const Iterator& rhs);
+		~Iterator();
+
+		Iterator& operator = (const Iterator& rhs);
+		Iterator& operator ++ ();
+		Iterator operator ++ (int);
+		const Node& operator * () const;
+		const Node *operator -> () const;
+		const Node& first() const;
+		const Node& second() const;
+
+		friend bool operator == (const Iterator& it, const Iterator& jt);
+		friend bool operator != (const Iterator& it, const Iterator& jt);
+
+	private:
+		IterPriv *m_pData;
+	};
+}
+
+#endif // ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/mark.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#ifndef MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+namespace YAML
+{
+	struct Mark {
+		Mark(): pos(0), line(0), column(0) {}
+		
+		static const Mark null() { return Mark(-1, -1, -1); }
+		
+		int pos;
+		int line, column;
+		
+	private:
+		Mark(int pos_, int line_, int column_): pos(pos_), line(line_), column(column_) {}
+	};
+}
+
+#endif // MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/node.h

@@ -0,0 +1,138 @@
+#pragma once
+
+#ifndef NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "conversion.h"
+#include "exceptions.h"
+#include "iterator.h"
+#include "mark.h"
+#include "noncopyable.h"
+#include "parserstate.h"
+#include <iostream>
+#include <string>
+#include <vector>
+#include <map>
+#include <memory>
+
+namespace YAML
+{
+	class Content;
+	class Scanner;
+	class Emitter;
+
+	enum CONTENT_TYPE { CT_NONE, CT_SCALAR, CT_SEQUENCE, CT_MAP };
+
+	class Node: private noncopyable
+	{
+	public:
+		Node();
+		~Node();
+
+		void Clear();
+		std::auto_ptr<Node> Clone() const;
+		void Parse(Scanner *pScanner, const ParserState& state);
+
+		CONTENT_TYPE GetType() const;
+
+		// file location of start of this node
+		const Mark GetMark() const { return m_mark; }
+
+		// accessors
+		Iterator begin() const;
+		Iterator end() const;
+		std::size_t size() const;
+
+		// extraction of scalars
+		bool GetScalar(std::string& s) const;
+
+		// we can specialize this for other values
+		template <typename T>
+		bool Read(T& value) const;
+
+		template <typename T>
+		const T Read() const;
+		
+		template <typename T>
+		operator T() const;
+
+		template <typename T>
+		friend void operator >> (const Node& node, T& value);
+
+		// retrieval for maps and sequences
+		template <typename T>
+		const Node *FindValue(const T& key) const;
+
+		template <typename T>
+		const Node& operator [] (const T& key) const;
+		
+		// specific to maps
+		const Node *FindValue(const char *key) const;
+		const Node& operator [] (const char *key) const;
+
+		// for anchors/aliases
+		const Node *Identity() const { return m_pIdentity; }
+		bool IsAlias() const { return m_alias; }
+		bool IsReferenced() const { return m_referenced; }
+
+		// emitting
+		friend Emitter& operator << (Emitter& out, const Node& node);
+
+		// ordering
+		int Compare(const Node& rhs) const;
+		friend bool operator < (const Node& n1, const Node& n2);
+
+	private:
+		// helper for sequences
+		template <typename, bool> friend struct _FindFromNodeAtIndex;
+		const Node *FindAtIndex(std::size_t i) const;
+		
+		// helper for maps
+		template <typename T>
+		const Node& GetValue(const T& key) const;
+
+		template <typename T>
+		const Node *FindValueForKey(const T& key) const;
+		
+		// helper for cloning
+		Node(const Mark& mark, const std::string& anchor, const std::string& tag, const Content *pContent);
+
+		// helpers for parsing
+		void ParseHeader(Scanner *pScanner, const ParserState& state);
+		void ParseTag(Scanner *pScanner, const ParserState& state);
+		void ParseAnchor(Scanner *pScanner, const ParserState& state);
+		void ParseAlias(Scanner *pScanner, const ParserState& state);
+
+	private:
+		Mark m_mark;
+		std::string m_anchor, m_tag;
+		Content *m_pContent;
+		bool m_alias;
+		const Node *m_pIdentity;
+		mutable bool m_referenced;
+	};
+	
+	// comparisons with auto-conversion
+	template <typename T>
+	bool operator == (const T& value, const Node& node);
+	
+	template <typename T>
+	bool operator == (const Node& node, const T& value);
+	
+	template <typename T>
+	bool operator != (const T& value, const Node& node);
+	
+	template <typename T>
+	bool operator != (const Node& node, const T& value);
+	
+	bool operator == (const char *value, const Node& node);
+	bool operator == (const Node& node, const char *value);
+	bool operator != (const char *value, const Node& node);
+	bool operator != (const Node& node, const char *value);
+}
+
+#include "nodeimpl.h"
+#include "nodereadimpl.h"
+
+#endif // NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/nodeimpl.h

@@ -0,0 +1,118 @@
+#pragma once
+
+#ifndef NODEIMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODEIMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "nodeutil.h"
+
+namespace YAML
+{
+	// implementation of templated things
+	template <typename T>
+	inline const T Node::Read() const {
+		T value;
+		*this >> value;
+		return value;
+	}
+	
+	template <typename T>
+	Node::operator T() const {
+		return Read<T>();
+	}
+
+	template <typename T>
+	inline void operator >> (const Node& node, T& value) {
+		if(!ConvertScalar(node, value))
+			throw InvalidScalar(node.m_mark);
+	}
+	
+	template <typename T>
+	inline const Node *Node::FindValue(const T& key) const {
+		switch(GetType()) {
+			case CT_MAP:
+				return FindValueForKey(key);
+			case CT_SEQUENCE:
+				return FindFromNodeAtIndex(*this, key);
+			default:
+				return 0;
+		}
+	}
+	
+	template <typename T>
+	inline const Node *Node::FindValueForKey(const T& key) const {
+		for(Iterator it=begin();it!=end();++it) {
+			T t;
+			if(it.first().Read(t)) {
+				if(key == t)
+					return &it.second();
+			}
+		}
+		
+		return 0;
+	}
+	
+	template <typename T>
+	inline const Node& Node::GetValue(const T& key) const {
+		if(!m_pContent)
+			throw BadDereference();
+		
+		const Node *pValue = FindValue(key);
+		if(!pValue)
+			throw MakeTypedKeyNotFound(m_mark, key);
+
+		return *pValue;
+	}
+	
+	template <typename T>
+	inline const Node& Node::operator [] (const T& key) const {
+		return GetValue(key);
+	}
+	
+	inline const Node *Node::FindValue(const char *key) const {
+		return FindValue(std::string(key));
+	}
+	
+	inline const Node& Node::operator [] (const char *key) const {
+		return GetValue(std::string(key));
+	}
+
+	template <typename T>
+	inline bool operator == (const T& value, const Node& node) {
+		return value == node.operator T();
+	}
+	
+	template <typename T>
+	inline bool operator == (const Node& node, const T& value) {
+		return value == node.operator T();
+	}
+	
+	template <typename T>
+	inline bool operator != (const T& value, const Node& node) {
+		return value != node.operator T();
+	}
+	
+	template <typename T>
+	inline bool operator != (const Node& node, const T& value) {
+		return value != node.operator T();
+	}
+
+	inline bool operator == (const char *value, const Node& node) {
+		return std::string(value) == node;
+	}
+	
+	inline bool operator == (const Node& node, const char *value) {
+		return std::string(value) == node;
+	}
+	
+	inline bool operator != (const char *value, const Node& node) {
+		return std::string(value) != node;
+	}
+	
+	inline bool operator != (const Node& node, const char *value) {
+		return std::string(value) != node;
+	}
+	
+}
+
+#endif // NODEIMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/nodereadimpl.h

@@ -0,0 +1,77 @@
+#pragma once
+
+namespace YAML
+{
+	// implementation for Node::Read
+	// (the goal is to call ConvertScalar if we can, and fall back to operator >> if not)
+	// thanks to litb from stackoverflow.com
+	// http://stackoverflow.com/questions/1386183/how-to-call-a-templated-function-if-it-exists-and-something-else-otherwise/1386390#1386390
+
+	// Note: this doesn't work on gcc 3.2, but does on gcc 3.4 and above. I'm not sure about 3.3.
+	
+#if __GNUC__ && (__GNUC__ < 3 || (__GNUC__ == 3 && __GNUC_MINOR__ <= 3))
+	// trick doesn't work? Just fall back to ConvertScalar.
+	// This means that we can't use any user-defined types as keys in a map
+	template <typename T>
+	inline bool Node::Read(T& value) const {
+		return ConvertScalar(*this, value);
+	}
+#else
+	// usual case: the trick!
+	template<bool>
+	struct read_impl;
+	
+	// ConvertScalar available
+	template<>
+	struct read_impl<true> {
+		template<typename T>
+		static bool read(const Node& node, T& value) {
+			return ConvertScalar(node, value);
+		}
+	};
+
+	// ConvertScalar not available
+	template<>
+	struct read_impl<false> {
+		template<typename T>
+		static bool read(const Node& node, T& value) {
+			try {
+				node >> value;
+			} catch(const Exception&) {
+				return false;
+			}
+			return true;
+		}
+	};
+	
+	namespace fallback {
+		// sizeof > 1
+		struct flag { char c[2]; };
+		flag Convert(...);
+		
+		int operator,(flag, flag);
+		
+		template<typename T>
+		void operator,(flag, T const&);
+		
+		char operator,(int, flag);
+	}
+
+	template <typename T>
+	inline bool Node::Read(T& value) const {
+		using namespace fallback;
+
+		return read_impl<sizeof (fallback::flag(), Convert(std::string(), value), fallback::flag()) != 1>::read(*this, value);
+	}
+#endif // done with trick
+	
+	// the main conversion function
+	template <typename T>
+	inline bool ConvertScalar(const Node& node, T& value) {
+		std::string scalar;
+		if(!node.GetScalar(scalar))
+			return false;
+		
+		return Convert(scalar, value);
+	}
+}

tools/rosdep/yaml-cpp/include/nodeutil.h

@@ -0,0 +1,60 @@
+#pragma once
+
+#ifndef NODEUTIL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODEUTIL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+namespace YAML
+{
+	template <typename T, typename U>
+	struct is_same_type {
+		enum { value = false };
+	};
+	
+	template <typename T>
+	struct is_same_type<T, T> {
+		enum { value = true };
+	};
+	
+	template <typename T, bool check>
+	struct is_index_type_with_check {
+		enum { value = false };
+	};
+	
+	template <> struct is_index_type_with_check<std::size_t, false> { enum { value = true }; };
+
+#define MAKE_INDEX_TYPE(Type) \
+	template <> struct is_index_type_with_check<Type, is_same_type<Type, std::size_t>::value> { enum { value = true }; }
+	
+	MAKE_INDEX_TYPE(int);
+	MAKE_INDEX_TYPE(unsigned);
+	MAKE_INDEX_TYPE(short);
+	MAKE_INDEX_TYPE(unsigned short);
+	MAKE_INDEX_TYPE(long);
+	MAKE_INDEX_TYPE(unsigned long);
+
+#undef MAKE_INDEX_TYPE
+	
+	template <typename T>
+	struct is_index_type: public is_index_type_with_check<T, false> {};
+	
+	// messing around with template stuff to get the right overload for operator [] for a sequence
+	template <typename T, bool b>
+	struct _FindFromNodeAtIndex {
+		const Node *pRet;
+		_FindFromNodeAtIndex(const Node&, const T&): pRet(0) {}
+	};
+
+	template <typename T>
+	struct _FindFromNodeAtIndex<T, true> {
+		const Node *pRet;
+		_FindFromNodeAtIndex(const Node& node, const T& key): pRet(node.FindAtIndex(static_cast<std::size_t>(key))) {}
+	};
+
+	template <typename T>
+	inline const Node *FindFromNodeAtIndex(const Node& node, const T& key) {
+		return _FindFromNodeAtIndex<T, is_index_type<T>::value>(node, key).pRet;
+	}
+}
+
+#endif // NODEUTIL_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/noncopyable.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#ifndef NONCOPYABLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NONCOPYABLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+namespace YAML
+{
+	// this is basically boost::noncopyable
+	class noncopyable
+		{
+		protected:
+			noncopyable() {}
+			~noncopyable() {}
+			
+		private:
+			noncopyable(const noncopyable&);
+			const noncopyable& operator = (const noncopyable&);
+		};
+}
+
+#endif // NONCOPYABLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/null.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#ifndef NULL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NULL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+namespace YAML
+{
+	class Node;
+	
+	struct _Null {};
+	inline bool operator == (const _Null&, const _Null&) { return true; }
+	inline bool operator != (const _Null&, const _Null&) { return false; }
+	
+	bool IsNull(const Node& node);
+	
+	extern _Null Null;
+}
+
+#endif // NULL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+

tools/rosdep/yaml-cpp/include/ostream.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#ifndef OSTREAM_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define OSTREAM_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <string>
+
+namespace YAML
+{
+	class ostream
+	{
+	public:
+		ostream();
+		~ostream();
+		
+		void reserve(unsigned size);
+		void put(char ch);
+		const char *str() const { return m_buffer; }
+		
+		unsigned row() const { return m_row; }
+		unsigned col() const { return m_col; }
+		unsigned pos() const { return m_pos; }
+		
+	private:
+		char *m_buffer;
+		unsigned m_pos;
+		unsigned m_size;
+		
+		unsigned m_row, m_col;
+	};
+	
+	ostream& operator << (ostream& out, const char *str);
+	ostream& operator << (ostream& out, const std::string& str);
+	ostream& operator << (ostream& out, char ch);
+}
+
+#endif // OSTREAM_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/parser.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#ifndef PARSER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define PARSER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "node.h"
+#include "parserstate.h"
+#include "noncopyable.h"
+#include <ios>
+#include <string>
+#include <vector>
+#include <map>
+#include <memory>
+
+namespace YAML
+{
+	class Scanner;
+	struct Token;
+
+	class Parser: private noncopyable
+	{
+	public:
+		Parser();
+		Parser(std::istream& in);
+		~Parser();
+
+		operator bool() const;
+
+		void Load(std::istream& in);
+		bool GetNextDocument(Node& document);
+		void PrintTokens(std::ostream& out);
+
+	private:
+		void ParseDirectives();
+		void HandleDirective(Token *pToken);
+		void HandleYamlDirective(Token *pToken);
+		void HandleTagDirective(Token *pToken);
+
+	private:
+		std::auto_ptr<Scanner> m_pScanner;
+		ParserState m_state;
+	};
+}
+
+#endif // PARSER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/parserstate.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#ifndef PARSERSTATE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define PARSERSTATE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <string>
+#include <map>
+
+namespace YAML
+{
+	struct Version {
+		int major, minor;
+	};
+
+	struct ParserState
+	{
+		Version version;
+		std::map <std::string, std::string> tags;
+
+		void Reset();
+		std::string TranslateTag(const std::string& handle) const;
+	};
+}
+
+#endif // PARSERSTATE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/stlemitter.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#ifndef STLEMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define STLEMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <vector>
+#include <list>
+#include <map>
+
+namespace YAML
+{
+	template <typename T>
+	inline Emitter& operator << (Emitter& emitter, const std::vector <T>& v) {
+		typedef typename std::vector <T> vec;
+		emitter << BeginSeq;
+		for(typename vec::const_iterator it=v.begin();it!=v.end();++it)
+			emitter << *it;
+		emitter << EndSeq;
+		return emitter;
+	}	
+
+	template <typename T>
+	inline Emitter& operator << (Emitter& emitter, const std::list <T>& v) {
+		typedef typename std::list <T> list;
+		emitter << BeginSeq;
+		for(typename list::const_iterator it=v.begin();it!=v.end();++it)
+			emitter << *it;
+		emitter << EndSeq;
+		return emitter;
+	}
+	
+	template <typename K, typename V>
+	inline Emitter& operator << (Emitter& emitter, const std::map <K, V>& m) {
+		typedef typename std::map <K, V> map;
+		emitter << BeginMap;
+		for(typename map::const_iterator it=m.begin();it!=m.end();++it)
+			emitter << Key << it->first << Value << it->second;
+		emitter << EndMap;
+		return emitter;
+	}
+}
+
+#endif // STLEMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/include/yaml.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#ifndef YAML_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define YAML_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "crt.h"
+#include "parser.h"
+#include "node.h"
+#include "iterator.h"
+#include "emitter.h"
+#include "stlemitter.h"
+#include "exceptions.h"
+
+#endif // YAML_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/install.txt

@@ -0,0 +1,24 @@
+*** With CMake ***
+
+yaml-cpp uses CMake to support cross-platform building. In a UNIX-like system, the basic steps to build are:
+
+1. Download and install CMake (if you don't have root privileges, just install to a local directory, like ~/bin)
+
+2. From the source directory, run:
+
+mkdir build
+cd build
+cmake ..
+
+and then the usual
+
+make
+make install
+
+3. To clean up, just remove the 'build' directory.
+
+*** Without CMake ***
+
+If you don't want to use CMake, just add all .cpp files to a makefile. yaml-cpp does not need any special build settings, so no 'configure' file is necessary.
+
+(Note: this is pretty tedious. It's sooo much easier to use CMake.)

tools/rosdep/yaml-cpp/license.txt

@@ -0,0 +1,19 @@
+Copyright (c) 2008 Jesse Beder.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

tools/rosdep/yaml-cpp/src/aliascontent.cpp

@@ -0,0 +1,94 @@
+#include "crt.h"
+#include "aliascontent.h"
+
+namespace YAML
+{
+	AliasContent::AliasContent(Content* pNodeContent)
+		: m_pRef(pNodeContent)
+	{
+	}
+
+	Content *AliasContent::Clone() const
+	{
+		return 0; // TODO: how to clone an alias?
+	}
+
+	void AliasContent::Parse(Scanner * /*pScanner*/, const ParserState& /*state*/)
+	{
+	}
+
+	void AliasContent::Write(Emitter&) const
+	{
+		// no content (just an alias)
+	}
+
+	bool AliasContent::GetBegin(std::vector <Node *>::const_iterator& i) const
+	{
+		return m_pRef->GetBegin(i);
+	}
+
+	bool AliasContent::GetBegin(std::map <Node *, Node *, ltnode>::const_iterator& i) const
+	{
+		return m_pRef->GetBegin(i);
+	}
+
+	bool AliasContent::GetEnd(std::vector <Node *>::const_iterator& i) const
+	{
+		return m_pRef->GetEnd(i);
+	}
+
+	bool AliasContent::GetEnd(std::map <Node *, Node *, ltnode>::const_iterator& i) const
+	{
+		return m_pRef->GetEnd(i);
+	}
+
+	Node* AliasContent::GetNode(std::size_t n) const
+	{
+		return m_pRef->GetNode(n);
+	}
+
+	std::size_t AliasContent::GetSize() const
+	{
+		return m_pRef->GetSize();
+	}
+
+	bool AliasContent::IsScalar() const
+	{
+		return m_pRef->IsScalar();
+	}
+
+	bool AliasContent::IsMap() const
+	{
+		return m_pRef->IsMap();
+	}
+
+	bool AliasContent::IsSequence() const
+	{
+		return m_pRef->IsSequence();
+	}
+
+	bool AliasContent::GetScalar(std::string& scalar) const
+	{
+		return m_pRef->GetScalar(scalar);
+	}
+
+	int AliasContent::Compare(Content *pContent)
+	{
+		return m_pRef->Compare(pContent);
+	}
+
+	int AliasContent::Compare(Scalar *pScalar)
+	{
+		return m_pRef->Compare(pScalar);
+	}
+
+	int AliasContent::Compare(Sequence *pSequence)
+	{
+		return m_pRef->Compare(pSequence);
+	}
+
+	int AliasContent::Compare(Map *pMap)
+	{
+		return m_pRef->Compare(pMap);
+	}
+}

tools/rosdep/yaml-cpp/src/aliascontent.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#ifndef ALIASCONTENT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define ALIASCONTENT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "content.h"
+
+namespace YAML
+{
+	class AliasContent : public Content
+	{
+	public:
+		AliasContent(Content *pNodeContent);
+		
+		virtual Content *Clone() const;
+
+		virtual void Parse(Scanner* pScanner, const ParserState& state);
+		virtual void Write(Emitter&) const;
+
+		virtual bool GetBegin(std::vector <Node *>::const_iterator&) const;
+		virtual bool GetBegin(std::map <Node *, Node *, ltnode>::const_iterator&) const;
+		virtual bool GetEnd(std::vector <Node *>::const_iterator&) const;
+		virtual bool GetEnd(std::map <Node *, Node *, ltnode>::const_iterator&) const;
+		virtual Node* GetNode(std::size_t) const;
+		virtual std::size_t GetSize() const;
+		virtual bool IsScalar() const;
+		virtual bool IsMap() const;
+		virtual bool IsSequence() const;
+
+		virtual bool GetScalar(std::string& s) const;
+
+		virtual int Compare(Content *);
+		virtual int Compare(Scalar *);
+		virtual int Compare(Sequence *);
+		virtual int Compare(Map *);
+
+	private:
+		Content* m_pRef;
+	};
+}
+
+#endif // ALIASCONTENT_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/content.cpp

@@ -0,0 +1,13 @@
+#include "crt.h"
+#include "content.h"
+
+namespace YAML
+{
+	Content::Content()
+	{
+	}
+
+	Content::~Content()
+	{
+	}
+}

tools/rosdep/yaml-cpp/src/content.h

@@ -0,0 +1,57 @@
+#pragma once
+
+#ifndef CONTENT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define CONTENT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <vector>
+#include <map>
+#include "parserstate.h"
+#include "exceptions.h"
+#include "ltnode.h"
+
+namespace YAML
+{
+	class Scanner;
+	class Parser;
+	class Node;
+	class Scalar;
+	class Sequence;
+	class Map;
+	class Emitter;
+
+	class Content
+	{
+	public:
+		Content();
+		virtual ~Content();
+		
+		virtual Content *Clone() const = 0;
+
+		virtual void Parse(Scanner *pScanner, const ParserState& state) = 0;
+		virtual void Write(Emitter& out) const = 0;
+
+		virtual bool GetBegin(std::vector <Node *>::const_iterator&) const { return false; }
+		virtual bool GetBegin(std::map <Node *, Node *, ltnode>::const_iterator&) const { return false; }
+		virtual bool GetEnd(std::vector <Node *>::const_iterator&) const { return false; }
+		virtual bool GetEnd(std::map <Node *, Node *, ltnode>::const_iterator&) const { return false; }
+		virtual Node *GetNode(std::size_t) const { return 0; }
+		virtual std::size_t GetSize() const { return 0; }
+		virtual bool IsScalar() const { return false; }
+		virtual bool IsMap() const { return false; }
+		virtual bool IsSequence() const { return false; }
+
+		// extraction
+		virtual bool GetScalar(std::string&) const { return false; }
+
+		// ordering
+		virtual int Compare(Content *) { return 0; }
+		virtual int Compare(Scalar *) { return 0; }
+		virtual int Compare(Sequence *) { return 0; }
+		virtual int Compare(Map *) { return 0; }
+
+	protected:
+	};
+}
+
+#endif // CONTENT_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/conversion.cpp

@@ -0,0 +1,89 @@
+#include "conversion.h"
+#include <algorithm>
+
+////////////////////////////////////////////////////////////////
+// Specializations for converting a string to specific types
+
+namespace
+{
+	// we're not gonna mess with the mess that is all the isupper/etc. functions
+	bool IsLower(char ch) { return 'a' <= ch && ch <= 'z'; }
+	bool IsUpper(char ch) { return 'A' <= ch && ch <= 'Z'; }
+	char ToLower(char ch) { return IsUpper(ch) ? ch + 'a' - 'A' : ch; }
+
+	std::string tolower(const std::string& str)
+	{
+		std::string s(str);
+		std::transform(s.begin(), s.end(), s.begin(), ToLower);
+		return s;
+	}
+
+	template <typename T>
+	bool IsEntirely(const std::string& str, T func)
+	{
+		for(std::size_t i=0;i<str.size();i++)
+			if(!func(str[i]))
+				return false;
+
+		return true;
+	}
+
+	// IsFlexibleCase
+	// . Returns true if 'str' is:
+	//   . UPPERCASE
+	//   . lowercase
+	//   . Capitalized
+	bool IsFlexibleCase(const std::string& str)
+	{
+		if(str.empty())
+			return true;
+
+		if(IsEntirely(str, IsLower))
+			return true;
+
+		bool firstcaps = IsUpper(str[0]);
+		std::string rest = str.substr(1);
+		return firstcaps && (IsEntirely(rest, IsLower) || IsEntirely(rest, IsUpper));
+	}
+}
+
+namespace YAML
+{
+	bool Convert(const std::string& input, bool& b)
+	{
+		// we can't use iostream bool extraction operators as they don't
+		// recognize all possible values in the table below (taken from
+		// http://yaml.org/type/bool.html)
+		static const struct {
+			std::string truename, falsename;
+		} names[] = {
+			{ "y", "n" },
+			{ "yes", "no" },
+			{ "true", "false" },
+			{ "on", "off" },
+		};
+
+		if(!IsFlexibleCase(input))
+			return false;
+
+		for(unsigned i=0;i<sizeof(names)/sizeof(names[0]);i++) {
+			if(names[i].truename == tolower(input)) {
+				b = true;
+				return true;
+			}
+
+			if(names[i].falsename == tolower(input)) {
+				b = false;
+				return true;
+			}
+		}
+
+		return false;
+	}
+	
+	bool Convert(const std::string& input, _Null& /*output*/)
+	{
+		return input.empty() || input == "~" || input == "null" || input == "Null" || input == "NULL";
+	}
+}
+

tools/rosdep/yaml-cpp/src/emitter.cpp

@@ -0,0 +1,700 @@
+#include "emitter.h"
+#include "emitterstate.h"
+#include "emitterutils.h"
+#include "indentation.h"
+#include "exceptions.h"
+#include <sstream>
+
+namespace YAML
+{	
+	Emitter::Emitter(): m_pState(new EmitterState)
+	{
+	}
+	
+	Emitter::~Emitter()
+	{
+	}
+	
+	const char *Emitter::c_str() const
+	{
+		return m_stream.str();
+	}
+	
+	unsigned Emitter::size() const
+	{
+		return m_stream.pos();
+	}
+	
+	// state checking
+	bool Emitter::good() const
+	{
+		return m_pState->good();
+	}
+	
+	const std::string Emitter::GetLastError() const
+	{
+		return m_pState->GetLastError();
+	}
+
+	// global setters
+	bool Emitter::SetOutputCharset(EMITTER_MANIP value)
+	{
+		return m_pState->SetOutputCharset(value, GLOBAL);
+	}
+
+	bool Emitter::SetStringFormat(EMITTER_MANIP value)
+	{
+		return m_pState->SetStringFormat(value, GLOBAL);
+	}
+	
+	bool Emitter::SetBoolFormat(EMITTER_MANIP value)
+	{
+		bool ok = false;
+		if(m_pState->SetBoolFormat(value, GLOBAL))
+			ok = true;
+		if(m_pState->SetBoolCaseFormat(value, GLOBAL))
+			ok = true;
+		if(m_pState->SetBoolLengthFormat(value, GLOBAL))
+			ok = true;
+		return ok;
+	}
+	
+	bool Emitter::SetIntBase(EMITTER_MANIP value)
+	{
+		return m_pState->SetIntFormat(value, GLOBAL);
+	}
+	
+	bool Emitter::SetSeqFormat(EMITTER_MANIP value)
+	{
+		return m_pState->SetFlowType(GT_SEQ, value, GLOBAL);
+	}
+	
+	bool Emitter::SetMapFormat(EMITTER_MANIP value)
+	{
+		bool ok = false;
+		if(m_pState->SetFlowType(GT_MAP, value, GLOBAL))
+			ok = true;
+		if(m_pState->SetMapKeyFormat(value, GLOBAL))
+			ok = true;
+		return ok;
+	}
+	
+	bool Emitter::SetIndent(unsigned n)
+	{
+		return m_pState->SetIndent(n, GLOBAL);
+	}
+	
+	bool Emitter::SetPreCommentIndent(unsigned n)
+	{
+		return m_pState->SetPreCommentIndent(n, GLOBAL);
+	}
+	
+	bool Emitter::SetPostCommentIndent(unsigned n)
+	{
+		return m_pState->SetPostCommentIndent(n, GLOBAL);
+	}
+
+	// SetLocalValue
+	// . Either start/end a group, or set a modifier locally
+	Emitter& Emitter::SetLocalValue(EMITTER_MANIP value)
+	{
+		if(!good())
+			return *this;
+		
+		switch(value) {
+			case BeginSeq:
+				EmitBeginSeq();
+				break;
+			case EndSeq:
+				EmitEndSeq();
+				break;
+			case BeginMap:
+				EmitBeginMap();
+				break;
+			case EndMap:
+				EmitEndMap();
+				break;
+			case Key:
+				EmitKey();
+				break;
+			case Value:
+				EmitValue();
+				break;
+			default:
+				m_pState->SetLocalValue(value);
+				break;
+		}
+		return *this;
+	}
+	
+	Emitter& Emitter::SetLocalIndent(const _Indent& indent)
+	{
+		m_pState->SetIndent(indent.value, LOCAL);
+		return *this;
+	}
+
+	// GotoNextPreAtomicState
+	// . Runs the state machine, emitting if necessary, and returns 'true' if done (i.e., ready to emit an atom)
+	bool Emitter::GotoNextPreAtomicState()
+	{
+		if(!good())
+			return true;
+		
+		unsigned curIndent = m_pState->GetCurIndent();
+		
+		EMITTER_STATE curState = m_pState->GetCurState();
+		switch(curState) {
+				// document-level
+			case ES_WAITING_FOR_DOC:
+				m_pState->SwitchState(ES_WRITING_DOC);
+				return true;
+			case ES_WRITING_DOC:
+				return true;
+				
+				// block sequence
+			case ES_WAITING_FOR_BLOCK_SEQ_ENTRY:
+				m_stream << IndentTo(curIndent) << "-";
+				m_pState->RequireSeparation();
+				m_pState->SwitchState(ES_WRITING_BLOCK_SEQ_ENTRY);
+				return true;
+			case ES_WRITING_BLOCK_SEQ_ENTRY:
+				return true;
+			case ES_DONE_WITH_BLOCK_SEQ_ENTRY:
+				m_stream << '\n';
+				m_pState->SwitchState(ES_WAITING_FOR_BLOCK_SEQ_ENTRY);
+				return false;
+				
+				// flow sequence
+			case ES_WAITING_FOR_FLOW_SEQ_ENTRY:
+				m_pState->SwitchState(ES_WRITING_FLOW_SEQ_ENTRY);
+				return true;
+			case ES_WRITING_FLOW_SEQ_ENTRY:
+				return true;
+			case ES_DONE_WITH_FLOW_SEQ_ENTRY:
+				m_stream << ',';
+				m_pState->RequireSeparation();
+				m_pState->SwitchState(ES_WAITING_FOR_FLOW_SEQ_ENTRY);
+				return false;
+				
+				// block map
+			case ES_WAITING_FOR_BLOCK_MAP_ENTRY:
+				m_pState->SetError(ErrorMsg::EXPECTED_KEY_TOKEN);
+				return true;
+			case ES_WAITING_FOR_BLOCK_MAP_KEY:
+				if(m_pState->CurrentlyInLongKey()) {
+					m_stream << IndentTo(curIndent) << '?';
+					m_pState->RequireSeparation();
+				}
+				m_pState->SwitchState(ES_WRITING_BLOCK_MAP_KEY);
+				return true;
+			case ES_WRITING_BLOCK_MAP_KEY:
+				return true;
+			case ES_DONE_WITH_BLOCK_MAP_KEY:
+				m_pState->SetError(ErrorMsg::EXPECTED_VALUE_TOKEN);
+				return true;
+			case ES_WAITING_FOR_BLOCK_MAP_VALUE:
+				if(m_pState->CurrentlyInLongKey())
+					m_stream << IndentTo(curIndent);
+				m_stream << ':';
+				m_pState->RequireSeparation();
+				m_pState->SwitchState(ES_WRITING_BLOCK_MAP_VALUE);
+				return true;
+			case ES_WRITING_BLOCK_MAP_VALUE:
+				return true;
+			case ES_DONE_WITH_BLOCK_MAP_VALUE:
+				m_pState->SetError(ErrorMsg::EXPECTED_KEY_TOKEN);
+				return true;
+				
+				// flow map
+			case ES_WAITING_FOR_FLOW_MAP_ENTRY:
+				m_pState->SetError(ErrorMsg::EXPECTED_KEY_TOKEN);
+				return true;
+			case ES_WAITING_FOR_FLOW_MAP_KEY:
+				m_pState->SwitchState(ES_WRITING_FLOW_MAP_KEY);
+				if(m_pState->CurrentlyInLongKey()) {
+					EmitSeparationIfNecessary();
+					m_stream << '?';
+					m_pState->RequireSeparation();
+				}
+				return true;
+			case ES_WRITING_FLOW_MAP_KEY:
+				return true;
+			case ES_DONE_WITH_FLOW_MAP_KEY:
+				m_pState->SetError(ErrorMsg::EXPECTED_VALUE_TOKEN);
+				return true;
+			case ES_WAITING_FOR_FLOW_MAP_VALUE:
+				m_stream << ':';
+				m_pState->RequireSeparation();
+				m_pState->SwitchState(ES_WRITING_FLOW_MAP_VALUE);
+				return true;
+			case ES_WRITING_FLOW_MAP_VALUE:
+				return true;
+			case ES_DONE_WITH_FLOW_MAP_VALUE:
+				m_pState->SetError(ErrorMsg::EXPECTED_KEY_TOKEN);
+				return true;
+			default:
+				assert(false);
+		}
+
+		assert(false);
+		return true;
+	}
+	
+	// PreAtomicWrite
+	// . Depending on the emitter state, write to the stream to get it
+	//   in position to do an atomic write (e.g., scalar, sequence, or map)
+	void Emitter::PreAtomicWrite()
+	{
+		if(!good())
+			return;
+		
+		while(!GotoNextPreAtomicState())
+			;
+	}
+	
+	// PostAtomicWrite
+	// . Clean up
+	void Emitter::PostAtomicWrite()
+	{
+		if(!good())
+			return;
+		
+		EMITTER_STATE curState = m_pState->GetCurState();
+		switch(curState) {
+				// document-level
+			case ES_WRITING_DOC:
+				m_pState->SwitchState(ES_DONE_WITH_DOC);
+				break;
+
+				// block seq
+			case ES_WRITING_BLOCK_SEQ_ENTRY:
+				m_pState->SwitchState(ES_DONE_WITH_BLOCK_SEQ_ENTRY);
+				break;
+				
+				// flow seq
+			case ES_WRITING_FLOW_SEQ_ENTRY:
+				m_pState->SwitchState(ES_DONE_WITH_FLOW_SEQ_ENTRY);
+				break;
+				
+				// block map
+			case ES_WRITING_BLOCK_MAP_KEY:
+				m_pState->SwitchState(ES_DONE_WITH_BLOCK_MAP_KEY);
+				break;
+			case ES_WRITING_BLOCK_MAP_VALUE:
+				m_pState->SwitchState(ES_DONE_WITH_BLOCK_MAP_VALUE);
+				break;
+				
+				// flow map
+			case ES_WRITING_FLOW_MAP_KEY:
+				m_pState->SwitchState(ES_DONE_WITH_FLOW_MAP_KEY);
+				break;
+			case ES_WRITING_FLOW_MAP_VALUE:
+				m_pState->SwitchState(ES_DONE_WITH_FLOW_MAP_VALUE);
+				break;
+			default:
+				assert(false);
+		};
+				
+		m_pState->ClearModifiedSettings();
+	}
+	
+	// EmitSeparationIfNecessary
+	void Emitter::EmitSeparationIfNecessary()
+	{
+		if(!good())
+			return;
+		
+		if(m_pState->RequiresSeparation())
+			m_stream << ' ';
+		m_pState->UnsetSeparation();
+	}
+	
+	// EmitBeginSeq
+	void Emitter::EmitBeginSeq()
+	{
+		if(!good())
+			return;
+		
+		// must have a long key if we're emitting a sequence
+		m_pState->StartLongKey();
+		
+		PreAtomicWrite();
+		
+		EMITTER_STATE curState = m_pState->GetCurState();
+		EMITTER_MANIP flowType = m_pState->GetFlowType(GT_SEQ);
+		if(flowType == Block) {
+			if(curState == ES_WRITING_BLOCK_SEQ_ENTRY || curState == ES_WRITING_BLOCK_MAP_KEY || curState == ES_WRITING_BLOCK_MAP_VALUE) {
+				m_stream << "\n";
+				m_pState->UnsetSeparation();
+			}
+			m_pState->PushState(ES_WAITING_FOR_BLOCK_SEQ_ENTRY);
+		} else if(flowType == Flow) {
+			EmitSeparationIfNecessary();
+			m_stream << "[";
+			m_pState->PushState(ES_WAITING_FOR_FLOW_SEQ_ENTRY);
+		} else
+			assert(false);
+
+		m_pState->BeginGroup(GT_SEQ);
+	}
+	
+	// EmitEndSeq
+	void Emitter::EmitEndSeq()
+	{
+		if(!good())
+			return;
+		
+		if(m_pState->GetCurGroupType() != GT_SEQ)
+			return m_pState->SetError(ErrorMsg::UNEXPECTED_END_SEQ);
+		
+		EMITTER_STATE curState = m_pState->GetCurState();
+		FLOW_TYPE flowType = m_pState->GetCurGroupFlowType();
+		if(flowType == FT_BLOCK) {
+			// Note: block sequences are *not* allowed to be empty, but we convert it
+			//       to a flow sequence if it is
+			assert(curState == ES_DONE_WITH_BLOCK_SEQ_ENTRY || curState == ES_WAITING_FOR_BLOCK_SEQ_ENTRY);
+			if(curState == ES_WAITING_FOR_BLOCK_SEQ_ENTRY) {
+				unsigned curIndent = m_pState->GetCurIndent();
+				m_stream << IndentTo(curIndent) << "[]";
+			}
+		} else if(flowType == FT_FLOW) {
+			// Note: flow sequences are allowed to be empty
+			assert(curState == ES_DONE_WITH_FLOW_SEQ_ENTRY || curState == ES_WAITING_FOR_FLOW_SEQ_ENTRY);
+			m_stream << "]";
+		} else
+			assert(false);
+		
+		m_pState->PopState();
+		m_pState->EndGroup(GT_SEQ);
+
+		PostAtomicWrite();
+	}
+	
+	// EmitBeginMap
+	void Emitter::EmitBeginMap()
+	{
+		if(!good())
+			return;
+		
+		// must have a long key if we're emitting a map
+		m_pState->StartLongKey();
+
+		PreAtomicWrite();
+
+		EMITTER_STATE curState = m_pState->GetCurState();
+		EMITTER_MANIP flowType = m_pState->GetFlowType(GT_MAP);
+		if(flowType == Block) {
+			if(curState == ES_WRITING_BLOCK_SEQ_ENTRY || curState == ES_WRITING_BLOCK_MAP_KEY || curState == ES_WRITING_BLOCK_MAP_VALUE) {
+				m_stream << "\n";
+				m_pState->UnsetSeparation();
+			}
+			m_pState->PushState(ES_WAITING_FOR_BLOCK_MAP_ENTRY);
+		} else if(flowType == Flow) {
+			EmitSeparationIfNecessary();
+			m_stream << "{";
+			m_pState->PushState(ES_WAITING_FOR_FLOW_MAP_ENTRY);
+		} else
+			assert(false);
+		
+		m_pState->BeginGroup(GT_MAP);
+	}
+	
+	// EmitEndMap
+	void Emitter::EmitEndMap()
+	{
+		if(!good())
+			return;
+		
+		if(m_pState->GetCurGroupType() != GT_MAP)
+			return m_pState->SetError(ErrorMsg::UNEXPECTED_END_MAP);
+
+		EMITTER_STATE curState = m_pState->GetCurState();
+		FLOW_TYPE flowType = m_pState->GetCurGroupFlowType();
+		if(flowType == FT_BLOCK) {
+			// Note: block sequences are *not* allowed to be empty, but we convert it
+			//       to a flow sequence if it is
+			assert(curState == ES_DONE_WITH_BLOCK_MAP_VALUE || curState == ES_WAITING_FOR_BLOCK_MAP_ENTRY);
+			if(curState == ES_WAITING_FOR_BLOCK_MAP_ENTRY) {
+				unsigned curIndent = m_pState->GetCurIndent();
+				m_stream << IndentTo(curIndent) << "{}";
+			}
+		} else if(flowType == FT_FLOW) {
+			// Note: flow maps are allowed to be empty
+			assert(curState == ES_DONE_WITH_FLOW_MAP_VALUE || curState == ES_WAITING_FOR_FLOW_MAP_ENTRY);
+			m_stream << "}";
+		} else
+			assert(false);
+		
+		m_pState->PopState();
+		m_pState->EndGroup(GT_MAP);
+		
+		PostAtomicWrite();
+	}
+	
+	// EmitKey
+	void Emitter::EmitKey()
+	{
+		if(!good())
+			return;
+		
+		EMITTER_STATE curState = m_pState->GetCurState();
+		FLOW_TYPE flowType = m_pState->GetCurGroupFlowType();
+		if(curState != ES_WAITING_FOR_BLOCK_MAP_ENTRY && curState != ES_DONE_WITH_BLOCK_MAP_VALUE
+		   && curState != ES_WAITING_FOR_FLOW_MAP_ENTRY && curState != ES_DONE_WITH_FLOW_MAP_VALUE)
+			return m_pState->SetError(ErrorMsg::UNEXPECTED_KEY_TOKEN);
+
+		if(flowType == FT_BLOCK) {
+			if(curState == ES_DONE_WITH_BLOCK_MAP_VALUE)
+				m_stream << '\n';
+			unsigned curIndent = m_pState->GetCurIndent();
+			m_stream << IndentTo(curIndent);
+			m_pState->SwitchState(ES_WAITING_FOR_BLOCK_MAP_KEY);
+		} else if(flowType == FT_FLOW) {
+			if(curState == ES_DONE_WITH_FLOW_MAP_VALUE) {
+				m_stream << ',';
+				m_pState->RequireSeparation();
+			}
+			m_pState->SwitchState(ES_WAITING_FOR_FLOW_MAP_KEY);
+		} else
+			assert(false);
+		
+		if(m_pState->GetMapKeyFormat() == LongKey)
+			m_pState->StartLongKey();
+		else if(m_pState->GetMapKeyFormat() == Auto)
+			m_pState->StartSimpleKey();
+		else
+			assert(false);
+	}
+	
+	// EmitValue
+	void Emitter::EmitValue()
+	{
+		if(!good())
+			return;
+
+		EMITTER_STATE curState = m_pState->GetCurState();
+		FLOW_TYPE flowType = m_pState->GetCurGroupFlowType();
+		if(curState != ES_DONE_WITH_BLOCK_MAP_KEY && curState != ES_DONE_WITH_FLOW_MAP_KEY)
+			return m_pState->SetError(ErrorMsg::UNEXPECTED_VALUE_TOKEN);
+
+		if(flowType == FT_BLOCK) {
+			if(m_pState->CurrentlyInLongKey())
+				m_stream << '\n';
+			m_pState->SwitchState(ES_WAITING_FOR_BLOCK_MAP_VALUE);
+		} else if(flowType == FT_FLOW) {
+			m_pState->SwitchState(ES_WAITING_FOR_FLOW_MAP_VALUE);
+		} else
+			assert(false);
+	}
+
+	// *******************************************************************************************
+	// overloads of Write
+	
+	Emitter& Emitter::Write(const std::string& str)
+	{
+		if(!good())
+			return *this;
+		
+		// literal scalars must use long keys
+		if(m_pState->GetStringFormat() == Literal && m_pState->GetCurGroupFlowType() != FT_FLOW)
+			m_pState->StartLongKey();
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		
+		bool escapeNonAscii = m_pState->GetOutputCharset() == EscapeNonAscii;
+		EMITTER_MANIP strFmt = m_pState->GetStringFormat();
+		FLOW_TYPE flowType = m_pState->GetCurGroupFlowType();
+		unsigned curIndent = m_pState->GetCurIndent();
+
+		switch(strFmt) {
+			case Auto:
+				Utils::WriteString(m_stream, str, flowType == FT_FLOW, escapeNonAscii);
+				break;
+			case SingleQuoted:
+				if(!Utils::WriteSingleQuotedString(m_stream, str)) {
+					m_pState->SetError(ErrorMsg::SINGLE_QUOTED_CHAR);
+					return *this;
+				}
+				break;
+			case DoubleQuoted:
+				Utils::WriteDoubleQuotedString(m_stream, str, escapeNonAscii);
+				break;
+			case Literal:
+				if(flowType == FT_FLOW)
+					Utils::WriteString(m_stream, str, flowType == FT_FLOW, escapeNonAscii);
+				else
+					Utils::WriteLiteralString(m_stream, str, curIndent + m_pState->GetIndent());
+				break;
+			default:
+				assert(false);
+		}
+		
+		PostAtomicWrite();
+		return *this;
+	}
+	
+	Emitter& Emitter::Write(const char *str)
+	{
+		if(!good())
+			return *this;
+		
+		return Write(std::string(str));
+	}
+	
+	Emitter& Emitter::Write(int i)
+	{
+		if(!good())
+			return *this;
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		
+		EMITTER_MANIP intFmt = m_pState->GetIntFormat();
+		std::stringstream str;
+		switch(intFmt) {
+			case Dec:
+				str << std::dec;
+				break;
+			case Hex:
+				str << std::hex;
+				break;
+			case Oct:
+				str << std::oct;
+				break;
+			default:
+				assert(false);
+		}
+		
+		str << i;
+		m_stream << str.str();
+		
+		PostAtomicWrite();
+		return *this;
+	}
+	
+	Emitter& Emitter::Write(bool b)
+	{
+		if(!good())
+			return *this;
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		
+		// set up all possible bools to write
+		struct BoolName { std::string trueName, falseName; };
+		struct BoolFormatNames { BoolName upper, lower, camel; };
+		struct BoolTypes { BoolFormatNames yesNo, trueFalse, onOff; };
+		
+		static const BoolTypes boolTypes = {
+			{ { "YES", "NO" }, { "yes", "no" }, { "Yes", "No" } },
+			{ { "TRUE", "FALSE" }, { "true", "false" }, { "True", "False" } },
+			{ { "ON", "OFF" }, { "on", "off" }, { "On", "Off" } }
+		};
+
+		// select the right one
+		EMITTER_MANIP boolFmt = m_pState->GetBoolFormat();
+		EMITTER_MANIP boolLengthFmt = m_pState->GetBoolLengthFormat();
+		EMITTER_MANIP boolCaseFmt = m_pState->GetBoolCaseFormat();
+		
+		const BoolFormatNames& fmtNames = (boolFmt == YesNoBool ? boolTypes.yesNo : boolFmt == TrueFalseBool ? boolTypes.trueFalse : boolTypes.onOff);
+		const BoolName& boolName = (boolCaseFmt == UpperCase ? fmtNames.upper : boolCaseFmt == LowerCase ? fmtNames.lower : fmtNames.camel);
+		const std::string& name = (b ? boolName.trueName : boolName.falseName);
+		
+		// and say it!
+		// TODO: should we disallow writing OnOffBool with ShortBool? (it'll just print "o" for both, which is silly)
+		if(boolLengthFmt == ShortBool)
+			m_stream << name[0];
+		else
+			m_stream << name;
+		
+		PostAtomicWrite();
+		return *this;
+	}
+
+	Emitter& Emitter::Write(float f)
+	{
+		if(!good())
+			return *this;
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		
+		std::stringstream str;
+		str << f;
+		m_stream << str.str();
+		
+		PostAtomicWrite();
+		return *this;		
+	}
+	
+	Emitter& Emitter::Write(double d)
+	{
+		if(!good())
+			return *this;
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		
+		std::stringstream str;
+		str << d;
+		m_stream << str.str();
+		
+		PostAtomicWrite();
+		return *this;		
+	}
+
+	Emitter& Emitter::Write(const _Alias& alias)
+	{
+		if(!good())
+			return *this;
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		if(!Utils::WriteAlias(m_stream, alias.content)) {
+			m_pState->SetError(ErrorMsg::INVALID_ALIAS);
+			return *this;
+		}
+		PostAtomicWrite();
+		return *this;
+	}
+	
+	Emitter& Emitter::Write(const _Anchor& anchor)
+	{
+		if(!good())
+			return *this;
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		if(!Utils::WriteAnchor(m_stream, anchor.content)) {
+			m_pState->SetError(ErrorMsg::INVALID_ANCHOR);
+			return *this;
+		}
+		m_pState->RequireSeparation();
+		// Note: no PostAtomicWrite() because we need another value for this node
+		return *this;
+	}
+	
+	Emitter& Emitter::Write(const _Comment& comment)
+	{
+		if(!good())
+			return *this;
+		
+		m_stream << Indentation(m_pState->GetPreCommentIndent());
+		Utils::WriteComment(m_stream, comment.content, m_pState->GetPostCommentIndent());
+		return *this;
+	}
+
+	Emitter& Emitter::Write(const _Null& /*null*/)
+	{
+		if(!good())
+			return *this;
+		
+		PreAtomicWrite();
+		EmitSeparationIfNecessary();
+		m_stream << "~";
+		PostAtomicWrite();
+		return *this;
+	}
+}
+

tools/rosdep/yaml-cpp/src/emitterstate.cpp

@@ -0,0 +1,277 @@
+#include "emitterstate.h"
+#include "exceptions.h"
+
+namespace YAML
+{
+	EmitterState::EmitterState(): m_isGood(true), m_curIndent(0), m_requiresSeparation(false)
+	{
+		// start up
+		m_stateStack.push(ES_WAITING_FOR_DOC);
+		
+		// set default global manipulators
+		m_charset.set(EmitNonAscii);
+		m_strFmt.set(Auto);
+		m_boolFmt.set(TrueFalseBool);
+		m_boolLengthFmt.set(LongBool);
+		m_boolCaseFmt.set(LowerCase);
+		m_intFmt.set(Dec);
+		m_indent.set(2);
+		m_preCommentIndent.set(2);
+		m_postCommentIndent.set(1);
+		m_seqFmt.set(Block);
+		m_mapFmt.set(Block);
+		m_mapKeyFmt.set(Auto);
+	}
+	
+	EmitterState::~EmitterState()
+	{
+		while(!m_groups.empty())
+			_PopGroup();
+	}
+	
+	std::auto_ptr <EmitterState::Group> EmitterState::_PopGroup()
+	{
+		if(m_groups.empty())
+			return std::auto_ptr <Group> (0);
+		
+		std::auto_ptr <Group> pGroup(m_groups.top());
+		m_groups.pop();
+		return pGroup;
+	}
+
+	// SetLocalValue
+	// . We blindly tries to set all possible formatters to this value
+	// . Only the ones that make sense will be accepted
+	void EmitterState::SetLocalValue(EMITTER_MANIP value)
+	{
+		SetOutputCharset(value, LOCAL);
+		SetStringFormat(value, LOCAL);
+		SetBoolFormat(value, LOCAL);
+		SetBoolCaseFormat(value, LOCAL);
+		SetBoolLengthFormat(value, LOCAL);
+		SetIntFormat(value, LOCAL);
+		SetFlowType(GT_SEQ, value, LOCAL);
+		SetFlowType(GT_MAP, value, LOCAL);
+		SetMapKeyFormat(value, LOCAL);
+	}
+	
+	void EmitterState::BeginGroup(GROUP_TYPE type)
+	{
+		unsigned lastIndent = (m_groups.empty() ? 0 : m_groups.top()->indent);
+		m_curIndent += lastIndent;
+		
+		std::auto_ptr <Group> pGroup(new Group(type));
+		
+		// transfer settings (which last until this group is done)
+		pGroup->modifiedSettings = m_modifiedSettings;
+
+		// set up group
+		pGroup->flow = GetFlowType(type);
+		pGroup->indent = GetIndent();
+		pGroup->usingLongKey = (GetMapKeyFormat() == LongKey ? true : false);
+
+		m_groups.push(pGroup.release());
+	}
+	
+	void EmitterState::EndGroup(GROUP_TYPE type)
+	{
+		if(m_groups.empty())
+			return SetError(ErrorMsg::UNMATCHED_GROUP_TAG);
+		
+		// get rid of the current group
+		{
+			std::auto_ptr <Group> pFinishedGroup = _PopGroup();
+			if(pFinishedGroup->type != type)
+				return SetError(ErrorMsg::UNMATCHED_GROUP_TAG);
+		}
+
+		// reset old settings
+		unsigned lastIndent = (m_groups.empty() ? 0 : m_groups.top()->indent);
+		assert(m_curIndent >= lastIndent);
+		m_curIndent -= lastIndent;
+		
+		// some global settings that we changed may have been overridden
+		// by a local setting we just popped, so we need to restore them
+		m_globalModifiedSettings.restore();
+	}
+		
+	GROUP_TYPE EmitterState::GetCurGroupType() const
+	{
+		if(m_groups.empty())
+			return GT_NONE;
+		
+		return m_groups.top()->type;
+	}
+	
+	FLOW_TYPE EmitterState::GetCurGroupFlowType() const
+	{
+		if(m_groups.empty())
+			return FT_NONE;
+		
+		return (m_groups.top()->flow == Flow ? FT_FLOW : FT_BLOCK);
+	}
+	
+	bool EmitterState::CurrentlyInLongKey()
+	{
+		if(m_groups.empty())
+			return false;
+		return m_groups.top()->usingLongKey;
+	}
+	
+	void EmitterState::StartLongKey()
+	{
+		if(!m_groups.empty())
+			m_groups.top()->usingLongKey = true;
+	}
+	
+	void EmitterState::StartSimpleKey()
+	{
+		if(!m_groups.empty())
+			m_groups.top()->usingLongKey = false;
+	}
+
+	void EmitterState::ClearModifiedSettings()
+	{
+		m_modifiedSettings.clear();
+	}
+
+	bool EmitterState::SetOutputCharset(EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case EmitNonAscii:
+			case EscapeNonAscii:
+				_Set(m_charset, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+	
+	bool EmitterState::SetStringFormat(EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case Auto:
+			case SingleQuoted:
+			case DoubleQuoted:
+			case Literal:
+				_Set(m_strFmt, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+	
+	bool EmitterState::SetBoolFormat(EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case OnOffBool:
+			case TrueFalseBool:
+			case YesNoBool:
+				_Set(m_boolFmt, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+
+	bool EmitterState::SetBoolLengthFormat(EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case LongBool:
+			case ShortBool:
+				_Set(m_boolLengthFmt, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+
+	bool EmitterState::SetBoolCaseFormat(EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case UpperCase:
+			case LowerCase:
+			case CamelCase:
+				_Set(m_boolCaseFmt, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+
+	bool EmitterState::SetIntFormat(EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case Dec:
+			case Hex:
+			case Oct:
+				_Set(m_intFmt, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+
+	bool EmitterState::SetIndent(unsigned value, FMT_SCOPE scope)
+	{
+		if(value == 0)
+			return false;
+		
+		_Set(m_indent, value, scope);
+		return true;
+	}
+
+	bool EmitterState::SetPreCommentIndent(unsigned value, FMT_SCOPE scope)
+	{
+		if(value == 0)
+			return false;
+		
+		_Set(m_preCommentIndent, value, scope);
+		return true;
+	}
+	
+	bool EmitterState::SetPostCommentIndent(unsigned value, FMT_SCOPE scope)
+	{
+		if(value == 0)
+			return false;
+		
+		_Set(m_postCommentIndent, value, scope);
+		return true;
+	}
+
+	bool EmitterState::SetFlowType(GROUP_TYPE groupType, EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case Block:
+			case Flow:
+				_Set(groupType == GT_SEQ ? m_seqFmt : m_mapFmt, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+
+	EMITTER_MANIP EmitterState::GetFlowType(GROUP_TYPE groupType) const
+	{
+		// force flow style if we're currently in a flow
+		FLOW_TYPE flowType = GetCurGroupFlowType();
+		if(flowType == FT_FLOW)
+			return Flow;
+		
+		// otherwise, go with what's asked of use
+		return (groupType == GT_SEQ ? m_seqFmt.get() : m_mapFmt.get());
+	}
+	
+	bool EmitterState::SetMapKeyFormat(EMITTER_MANIP value, FMT_SCOPE scope)
+	{
+		switch(value) {
+			case Auto:
+			case LongKey:
+				_Set(m_mapKeyFmt, value, scope);
+				return true;
+			default:
+				return false;
+		}
+	}
+}
+

tools/rosdep/yaml-cpp/src/emitterstate.h

@@ -0,0 +1,205 @@
+#pragma once
+
+#ifndef EMITTERSTATE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTERSTATE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "setting.h"
+#include "emittermanip.h"
+#include <cassert>
+#include <vector>
+#include <stack>
+#include <memory>
+
+namespace YAML
+{
+	enum FMT_SCOPE {
+		LOCAL,
+		GLOBAL
+	};
+	
+	enum GROUP_TYPE {
+		GT_NONE,
+		GT_SEQ,
+		GT_MAP
+	};
+	
+	enum FLOW_TYPE {
+		FT_NONE,
+		FT_FLOW,
+		FT_BLOCK
+	};
+	
+	enum NODE_STATE {
+		NS_START,
+		NS_READY_FOR_ATOM,
+		NS_END
+	};
+	
+	enum EMITTER_STATE {
+		ES_WAITING_FOR_DOC,
+		ES_WRITING_DOC,
+		ES_DONE_WITH_DOC,
+		
+		// block seq
+		ES_WAITING_FOR_BLOCK_SEQ_ENTRY,
+		ES_WRITING_BLOCK_SEQ_ENTRY,
+		ES_DONE_WITH_BLOCK_SEQ_ENTRY,
+		
+		// flow seq
+		ES_WAITING_FOR_FLOW_SEQ_ENTRY,
+		ES_WRITING_FLOW_SEQ_ENTRY,
+		ES_DONE_WITH_FLOW_SEQ_ENTRY,
+		
+		// block map
+		ES_WAITING_FOR_BLOCK_MAP_ENTRY,
+		ES_WAITING_FOR_BLOCK_MAP_KEY,
+		ES_WRITING_BLOCK_MAP_KEY,
+		ES_DONE_WITH_BLOCK_MAP_KEY,
+		ES_WAITING_FOR_BLOCK_MAP_VALUE,
+		ES_WRITING_BLOCK_MAP_VALUE,
+		ES_DONE_WITH_BLOCK_MAP_VALUE,
+		
+		// flow map
+		ES_WAITING_FOR_FLOW_MAP_ENTRY,
+		ES_WAITING_FOR_FLOW_MAP_KEY,
+		ES_WRITING_FLOW_MAP_KEY,
+		ES_DONE_WITH_FLOW_MAP_KEY,
+		ES_WAITING_FOR_FLOW_MAP_VALUE,
+		ES_WRITING_FLOW_MAP_VALUE,
+		ES_DONE_WITH_FLOW_MAP_VALUE
+	};
+	
+	class EmitterState
+	{
+	public:
+		EmitterState();
+		~EmitterState();
+		
+		// basic state checking
+		bool good() const { return m_isGood; }
+		const std::string GetLastError() const { return m_lastError; }
+		void SetError(const std::string& error) { m_isGood = false; m_lastError = error; }
+		
+		// main state of the machine
+		EMITTER_STATE GetCurState() const { return m_stateStack.top(); }
+		void SwitchState(EMITTER_STATE state) { PopState(); PushState(state); }
+		void PushState(EMITTER_STATE state) { m_stateStack.push(state); }
+		void PopState() { m_stateStack.pop(); }
+		
+		void SetLocalValue(EMITTER_MANIP value);
+		
+		// group handling
+		void BeginGroup(GROUP_TYPE type);
+		void EndGroup(GROUP_TYPE type);
+		
+		GROUP_TYPE GetCurGroupType() const;
+		FLOW_TYPE GetCurGroupFlowType() const;
+		int GetCurIndent() const { return m_curIndent; }
+		
+		bool CurrentlyInLongKey();
+		void StartLongKey();
+		void StartSimpleKey();
+
+		bool RequiresSeparation() const { return m_requiresSeparation; }
+		void RequireSeparation() { m_requiresSeparation = true; }
+		void UnsetSeparation() { m_requiresSeparation = false; }
+
+		void ClearModifiedSettings();
+
+		// formatters
+		bool SetOutputCharset(EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetOutputCharset() const { return m_charset.get(); }
+
+		bool SetStringFormat(EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetStringFormat() const { return m_strFmt.get(); }
+		
+		bool SetBoolFormat(EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetBoolFormat() const { return m_boolFmt.get(); }
+
+		bool SetBoolLengthFormat(EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetBoolLengthFormat() const { return m_boolLengthFmt.get(); }
+
+		bool SetBoolCaseFormat(EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetBoolCaseFormat() const { return m_boolCaseFmt.get(); }
+
+		bool SetIntFormat(EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetIntFormat() const { return m_intFmt.get(); }
+
+		bool SetIndent(unsigned value, FMT_SCOPE scope);
+		int GetIndent() const { return m_indent.get(); }
+		
+		bool SetPreCommentIndent(unsigned value, FMT_SCOPE scope);
+		int GetPreCommentIndent() const { return m_preCommentIndent.get(); }
+		bool SetPostCommentIndent(unsigned value, FMT_SCOPE scope);
+		int GetPostCommentIndent() const { return m_postCommentIndent.get(); }
+		
+		bool SetFlowType(GROUP_TYPE groupType, EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetFlowType(GROUP_TYPE groupType) const;
+		
+		bool SetMapKeyFormat(EMITTER_MANIP value, FMT_SCOPE scope);
+		EMITTER_MANIP GetMapKeyFormat() const { return m_mapKeyFmt.get(); }
+		
+	private:
+		template <typename T>
+		void _Set(Setting<T>& fmt, T value, FMT_SCOPE scope);
+		
+	private:
+		// basic state ok?
+		bool m_isGood;
+		std::string m_lastError;
+		
+		// other state
+		std::stack <EMITTER_STATE> m_stateStack;
+		
+		Setting <EMITTER_MANIP> m_charset;
+		Setting <EMITTER_MANIP> m_strFmt;
+		Setting <EMITTER_MANIP> m_boolFmt;
+		Setting <EMITTER_MANIP> m_boolLengthFmt;
+		Setting <EMITTER_MANIP> m_boolCaseFmt;
+		Setting <EMITTER_MANIP> m_intFmt;
+		Setting <unsigned> m_indent;
+		Setting <unsigned> m_preCommentIndent, m_postCommentIndent;
+		Setting <EMITTER_MANIP> m_seqFmt;
+		Setting <EMITTER_MANIP> m_mapFmt;
+		Setting <EMITTER_MANIP> m_mapKeyFmt;
+		
+		SettingChanges m_modifiedSettings;
+		SettingChanges m_globalModifiedSettings;
+		
+		struct Group {
+			Group(GROUP_TYPE type_): type(type_), usingLongKey(false), indent(0) {}
+			
+			GROUP_TYPE type;
+			EMITTER_MANIP flow;
+			bool usingLongKey;
+			int indent;
+			
+			SettingChanges modifiedSettings;
+		};
+		
+		std::auto_ptr <Group> _PopGroup();
+		
+		std::stack <Group *> m_groups;
+		unsigned m_curIndent;
+		bool m_requiresSeparation;
+	};
+
+	template <typename T>
+	void EmitterState::_Set(Setting<T>& fmt, T value, FMT_SCOPE scope) {
+		switch(scope) {
+			case LOCAL:
+				m_modifiedSettings.push(fmt.set(value));
+				break;
+			case GLOBAL:
+				fmt.set(value);
+				m_globalModifiedSettings.push(fmt.set(value));  // this pushes an identity set, so when we restore,
+				                                                // it restores to the value here, and not the previous one
+				break;
+			default:
+				assert(false);
+		}
+	}
+}
+
+#endif // EMITTERSTATE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/emitterutils.cpp

@@ -0,0 +1,298 @@
+#include "emitterutils.h"
+#include "exp.h"
+#include "indentation.h"
+#include "exceptions.h"
+#include "stringsource.h"
+#include <sstream>
+#include <iomanip>
+
+namespace YAML
+{
+	namespace Utils
+	{
+		namespace {
+			enum {REPLACEMENT_CHARACTER = 0xFFFD};
+
+			bool IsAnchorChar(int ch) { // test for ns-anchor-char
+				switch (ch) {
+					case ',': case '[': case ']': case '{': case '}': // c-flow-indicator
+					case ' ': case '\t': // s-white
+					case 0xFEFF: // c-byte-order-mark
+					case 0xA: case 0xD: // b-char
+						return false;
+					case 0x85:
+						return true;
+				}
+
+				if (ch < 0x20)
+					return false;
+
+				if (ch < 0x7E)
+					return true;
+
+				if (ch < 0xA0)
+					return false;
+				if (ch >= 0xD800 && ch <= 0xDFFF)
+					return false;
+				if ((ch & 0xFFFE) == 0xFFFE)
+					return false;
+				if ((ch >= 0xFDD0) && (ch <= 0xFDEF))
+					return false;
+				if (ch > 0x10FFFF)
+					return false;
+
+				return true;
+			}
+			
+			int Utf8BytesIndicated(char ch) {
+				int byteVal = static_cast<unsigned char>(ch);
+				switch (byteVal >> 4) {
+					case 0: case 1: case 2: case 3: case 4: case 5: case 6: case 7:
+						return 1;
+					case 12: case 13:
+						return 2;
+					case 14:
+						return 3;
+					case 15:
+						return 4;
+					default:
+					  return -1;
+				}
+			}
+
+			bool IsTrailingByte(char ch) {
+				return (ch & 0xC0) == 0x80;
+			}
+			
+			bool GetNextCodePointAndAdvance(int& codePoint, std::string::const_iterator& first, std::string::const_iterator last) {
+				if (first == last)
+					return false;
+				
+				int nBytes = Utf8BytesIndicated(*first);
+				if (nBytes < 1) {
+					// Bad lead byte
+					++first;
+					codePoint = REPLACEMENT_CHARACTER;
+					return true;
+				}
+				
+				if (nBytes == 1) {
+					codePoint = *first++;
+					return true;
+				}
+				
+				// Gather bits from trailing bytes
+				codePoint = static_cast<unsigned char>(*first) & ~(0xFF << (7 - nBytes));
+				++first;
+				--nBytes;
+				for (; nBytes > 0; ++first, --nBytes) {
+					if ((first == last) || !IsTrailingByte(*first)) {
+						codePoint = REPLACEMENT_CHARACTER;
+						break;
+					}
+					codePoint <<= 6;
+					codePoint |= *first & 0x3F;
+				}
+
+				// Check for illegal code points
+				if (codePoint > 0x10FFFF)
+					codePoint = REPLACEMENT_CHARACTER;
+				else if (codePoint >= 0xD800 && codePoint <= 0xDFFF)
+					codePoint = REPLACEMENT_CHARACTER;
+				else if ((codePoint & 0xFFFE) == 0xFFFE)
+					codePoint = REPLACEMENT_CHARACTER;
+				else if (codePoint >= 0xFDD0 && codePoint <= 0xFDEF)
+					codePoint = REPLACEMENT_CHARACTER;
+				return true;
+			}
+			
+			void WriteCodePoint(ostream& out, int codePoint) {
+				if (codePoint < 0 || codePoint > 0x10FFFF) {
+					codePoint = REPLACEMENT_CHARACTER;
+				}
+				if (codePoint < 0x7F) {
+					out << static_cast<char>(codePoint);
+				} else if (codePoint < 0x7FF) {
+					out << static_cast<char>(0xC0 | (codePoint >> 6))
+					    << static_cast<char>(0x80 | (codePoint & 0x3F));
+				} else if (codePoint < 0xFFFF) {
+					out << static_cast<char>(0xE0 | (codePoint >> 12))
+					    << static_cast<char>(0x80 | ((codePoint >> 6) & 0x3F))
+					    << static_cast<char>(0x80 | (codePoint & 0x3F));
+				} else {
+					out << static_cast<char>(0xF0 | (codePoint >> 18))
+					    << static_cast<char>(0x80 | ((codePoint >> 12) & 0x3F))
+					    << static_cast<char>(0x80 | ((codePoint >> 6) & 0x3F))
+					    << static_cast<char>(0x80 | (codePoint & 0x3F));
+				}
+			}
+			
+			bool IsValidPlainScalar(const std::string& str, bool inFlow, bool allowOnlyAscii) {
+				// first check the start
+				const RegEx& start = (inFlow ? Exp::PlainScalarInFlow : Exp::PlainScalar);
+				if(!start.Matches(str))
+					return false;
+				
+				// and check the end for plain whitespace (which can't be faithfully kept in a plain scalar)
+				if(!str.empty() && *str.rbegin() == ' ')
+					return false;
+
+				// then check until something is disallowed
+				const RegEx& disallowed = (inFlow ? Exp::EndScalarInFlow : Exp::EndScalar)
+				                          || (Exp::BlankOrBreak + Exp::Comment)
+				                          || Exp::NotPrintable
+				                          || Exp::Utf8_ByteOrderMark
+				                          || Exp::Break
+				                          || Exp::Tab;
+				StringCharSource buffer(str.c_str(), str.size());
+				while(buffer) {
+					if(disallowed.Matches(buffer))
+						return false;
+					if(allowOnlyAscii && (0x7F < static_cast<unsigned char>(buffer[0]))) 
+						return false;
+					++buffer;
+				}
+				
+				return true;
+			}
+
+			void WriteDoubleQuoteEscapeSequence(ostream& out, int codePoint) {
+				static const char hexDigits[] = "0123456789abcdef";
+
+				char escSeq[] = "\\U00000000";
+				int digits = 8;
+				if (codePoint < 0xFF) {
+					escSeq[1] = 'x';
+					digits = 2;
+				} else if (codePoint < 0xFFFF) {
+					escSeq[1] = 'u';
+					digits = 4;
+				}
+
+				// Write digits into the escape sequence
+				int i = 2;
+				for (; digits > 0; --digits, ++i) {
+					escSeq[i] = hexDigits[(codePoint >> (4 * (digits - 1))) & 0xF];
+				}
+
+				escSeq[i] = 0; // terminate with NUL character
+				out << escSeq;
+			}
+
+			bool WriteAliasName(ostream& out, const std::string& str) {
+				int codePoint;
+				for(std::string::const_iterator i = str.begin();
+					GetNextCodePointAndAdvance(codePoint, i, str.end());
+					)
+				{
+					if (!IsAnchorChar(codePoint))
+						return false;
+
+					WriteCodePoint(out, codePoint);
+				}
+				return true;
+			}
+		}
+		
+		bool WriteString(ostream& out, const std::string& str, bool inFlow, bool escapeNonAscii)
+		{
+			if(IsValidPlainScalar(str, inFlow, escapeNonAscii)) {
+				out << str;
+				return true;
+			} else
+				return WriteDoubleQuotedString(out, str, escapeNonAscii);
+		}
+		
+		bool WriteSingleQuotedString(ostream& out, const std::string& str)
+		{
+			out << "'";
+			int codePoint;
+			for(std::string::const_iterator i = str.begin();
+				GetNextCodePointAndAdvance(codePoint, i, str.end());
+				) 
+			{
+				if (codePoint == '\n')
+					return false;  // We can't handle a new line and the attendant indentation yet
+
+				if (codePoint == '\'')
+					out << "''";
+				else
+					WriteCodePoint(out, codePoint);
+			}
+			out << "'";
+			return true;
+		}
+		
+		bool WriteDoubleQuotedString(ostream& out, const std::string& str, bool escapeNonAscii)
+		{
+			out << "\"";
+			int codePoint;
+			for(std::string::const_iterator i = str.begin();
+				GetNextCodePointAndAdvance(codePoint, i, str.end());
+				) 
+			{
+				if (codePoint == '\"')
+					out << "\\\"";
+				else if (codePoint == '\\')
+					out << "\\\\";
+				else if (codePoint < 0x20 || (codePoint >= 0x80 && codePoint <= 0xA0)) // Control characters and non-breaking space
+					WriteDoubleQuoteEscapeSequence(out, codePoint);
+				else if (codePoint == 0xFEFF) // Byte order marks (ZWNS) should be escaped (YAML 1.2, sec. 5.2)	
+					WriteDoubleQuoteEscapeSequence(out, codePoint);
+				else if (escapeNonAscii && codePoint > 0x7E)
+					WriteDoubleQuoteEscapeSequence(out, codePoint);
+				else
+					WriteCodePoint(out, codePoint);
+			}
+			out << "\"";
+			return true;
+		}
+
+		bool WriteLiteralString(ostream& out, const std::string& str, int indent)
+		{
+			out << "|\n";
+			out << IndentTo(indent);
+			int codePoint;
+			for(std::string::const_iterator i = str.begin();
+				GetNextCodePointAndAdvance(codePoint, i, str.end());
+				)
+			{
+				if (codePoint == '\n')
+				  out << "\n" << IndentTo(indent);
+				else
+				  WriteCodePoint(out, codePoint);
+			}
+			return true;
+		}
+		
+		bool WriteComment(ostream& out, const std::string& str, int postCommentIndent)
+		{
+			unsigned curIndent = out.col();
+			out << "#" << Indentation(postCommentIndent);
+			int codePoint;
+			for(std::string::const_iterator i = str.begin();
+				GetNextCodePointAndAdvance(codePoint, i, str.end());
+				)
+			{
+				if(codePoint == '\n')
+					out << "\n" << IndentTo(curIndent) << "#" << Indentation(postCommentIndent);
+				else
+					WriteCodePoint(out, codePoint);
+			}
+			return true;
+		}
+
+		bool WriteAlias(ostream& out, const std::string& str)
+		{
+			out << "*";
+			return WriteAliasName(out, str);
+		}
+		
+		bool WriteAnchor(ostream& out, const std::string& str)
+		{
+			out << "&";
+			return WriteAliasName(out, str);
+		}
+	}
+}
+

tools/rosdep/yaml-cpp/src/emitterutils.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#ifndef EMITTERUTILS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTERUTILS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "ostream.h"
+#include <string>
+
+namespace YAML
+{
+	namespace Utils
+	{
+		bool WriteString(ostream& out, const std::string& str, bool inFlow, bool escapeNonAscii);
+		bool WriteSingleQuotedString(ostream& out, const std::string& str);
+		bool WriteDoubleQuotedString(ostream& out, const std::string& str, bool escapeNonAscii);
+		bool WriteLiteralString(ostream& out, const std::string& str, int indent);
+		bool WriteComment(ostream& out, const std::string& str, int postCommentIndent);
+		bool WriteAlias(ostream& out, const std::string& str);
+		bool WriteAnchor(ostream& out, const std::string& str);
+	}
+}
+
+#endif // EMITTERUTILS_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/exp.cpp

@@ -0,0 +1,114 @@
+#include "crt.h"
+#include "exp.h"
+#include "exceptions.h"
+#include <sstream>
+
+namespace YAML
+{
+	namespace Exp
+	{
+		unsigned ParseHex(const std::string& str, const Mark& mark)
+		{
+			unsigned value = 0;
+			for(std::size_t i=0;i<str.size();i++) {
+				char ch = str[i];
+				int digit = 0;
+				if('a' <= ch && ch <= 'f')
+					digit = ch - 'a' + 10;
+				else if('A' <= ch && ch <= 'F')
+					digit = ch - 'A' + 10;
+				else if('0' <= ch && ch <= '9')
+					digit = ch - '0';
+				else
+					throw ParserException(mark, ErrorMsg::INVALID_HEX);
+
+				value = (value << 4) + digit;
+			}
+
+			return value;
+		}
+
+		std::string Str(unsigned ch)
+		{
+			return std::string(1, static_cast<char>(ch));
+		}
+
+		// Escape
+		// . Translates the next 'codeLength' characters into a hex number and returns the result.
+		// . Throws if it's not actually hex.
+		std::string Escape(Stream& in, int codeLength)
+		{
+			// grab string
+			std::string str;
+			for(int i=0;i<codeLength;i++)
+				str += in.get();
+
+			// get the value
+			unsigned value = ParseHex(str, in.mark());
+
+			// legal unicode?
+			if((value >= 0xD800 && value <= 0xDFFF) || value > 0x10FFFF) {
+				std::stringstream msg;
+				msg << ErrorMsg::INVALID_UNICODE << value;
+				throw ParserException(in.mark(), msg.str());
+			}
+
+			// now break it up into chars
+			if(value <= 0x7F)
+				return Str(value);
+			else if(value <= 0x7FF)
+				return Str(0xC0 + (value >> 6)) + Str(0x80 + (value & 0x3F));
+			else if(value <= 0xFFFF)
+				return Str(0xE0 + (value >> 12)) + Str(0x80 + ((value >> 6) & 0x3F)) + Str(0x80 + (value & 0x3F));
+			else
+				return Str(0xF0 + (value >> 18)) + Str(0x80 + ((value >> 12) & 0x3F)) +
+					Str(0x80 + ((value >> 6) & 0x3F)) + Str(0x80 + (value & 0x3F));
+		}
+
+		// Escape
+		// . Escapes the sequence starting 'in' (it must begin with a '\' or single quote)
+		//   and returns the result.
+		// . Throws if it's an unknown escape character.
+		std::string Escape(Stream& in)
+		{
+			// eat slash
+			char escape = in.get();
+
+			// switch on escape character
+			char ch = in.get();
+
+			// first do single quote, since it's easier
+			if(escape == '\'' && ch == '\'')
+				return "\'";
+
+			// now do the slash (we're not gonna check if it's a slash - you better pass one!)
+			switch(ch) {
+				case '0': return std::string(1, '\x00');
+				case 'a': return "\x07";
+				case 'b': return "\x08";
+				case 't':
+                case '\t': return "\x09";
+				case 'n': return "\x0A";
+				case 'v': return "\x0B";
+				case 'f': return "\x0C";
+				case 'r': return "\x0D";
+				case 'e': return "\x1B";
+				case ' ': return "\x20";
+				case '\"': return "\"";
+				case '\'': return "\'";
+				case '\\': return "\\";
+				case '/': return "/";
+				case 'N': return "\x85";
+				case '_': return "\xA0";
+				case 'L': return "\xE2\x80\xA8";  // LS (#x2028)
+				case 'P': return "\xE2\x80\xA9";  // PS (#x2029)
+				case 'x': return Escape(in, 2);
+				case 'u': return Escape(in, 4);
+				case 'U': return Escape(in, 8);
+			}
+
+			std::stringstream msg;
+			throw ParserException(in.mark(), ErrorMsg::INVALID_ESCAPE + ch);
+		}
+	}
+}

tools/rosdep/yaml-cpp/src/exp.h

@@ -0,0 +1,85 @@
+#pragma once
+
+#ifndef EXP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EXP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "regex.h"
+#include <string>
+#include <ios>
+#include "stream.h"
+
+namespace YAML
+{
+	////////////////////////////////////////////////////////////////////////////////
+	// Here we store a bunch of expressions for matching different parts of the file.
+
+	namespace Exp
+	{
+		// misc
+		const RegEx Space = RegEx(' ');
+		const RegEx Tab = RegEx('\t');
+		const RegEx Blank = Space || Tab;
+		const RegEx Break = RegEx('\n') || RegEx("\r\n");
+		const RegEx BlankOrBreak = Blank || Break;
+		const RegEx Digit = RegEx('0', '9');
+		const RegEx Alpha = RegEx('a', 'z') || RegEx('A', 'Z');
+		const RegEx AlphaNumeric = Alpha || Digit;
+		const RegEx Hex = Digit || RegEx('A', 'F') || RegEx('a', 'f');
+		// Valid Unicode code points that are not part of c-printable (YAML 1.2, sec. 5.1)
+		const RegEx NotPrintable = RegEx(0) || 
+			RegEx("\x01\x02\x03\x04\x05\x06\x07\x08\x0B\x0C\x7F", REGEX_OR) || 
+			RegEx(0x0E, 0x1F) ||
+			(RegEx('\xC2') + (RegEx('\x80', '\x84') || RegEx('\x86', '\x9F')));
+		const RegEx Utf8_ByteOrderMark = RegEx("\xEF\xBB\xBF");
+
+		// actual tags
+
+		const RegEx DocStart = RegEx("---") + (BlankOrBreak || RegEx());
+		const RegEx DocEnd = RegEx("...") + (BlankOrBreak || RegEx());
+		const RegEx DocIndicator = DocStart || DocEnd;
+		const RegEx BlockEntry = RegEx('-') + (BlankOrBreak || RegEx());
+		const RegEx Key = RegEx('?'),
+		            KeyInFlow = RegEx('?') + BlankOrBreak;
+		const RegEx Value = RegEx(':') + (BlankOrBreak || RegEx()),
+		            ValueInFlow = RegEx(':') + (BlankOrBreak || RegEx(",}", REGEX_OR));
+		const RegEx Comment = RegEx('#');
+		const RegEx AnchorEnd = RegEx("?:,]}%@`", REGEX_OR) || BlankOrBreak;
+
+		// Plain scalar rules:
+		// . Cannot start with a blank.
+		// . Can never start with any of , [ ] { } # & * ! | > \' \" % @ `
+		// . In the block context - ? : must be not be followed with a space.
+		// . In the flow context ? is illegal and : and - must not be followed with a space.
+		const RegEx PlainScalar = !(BlankOrBreak || RegEx(",[]{}#&*!|>\'\"%@`", REGEX_OR) || (RegEx("-?:", REGEX_OR) + Blank)),
+		            PlainScalarInFlow = !(BlankOrBreak || RegEx("?,[]{}#&*!|>\'\"%@`", REGEX_OR) || (RegEx("-:", REGEX_OR) + Blank));
+		const RegEx EndScalar = RegEx(':') + (BlankOrBreak || RegEx()),
+		            EndScalarInFlow = (RegEx(':') + (BlankOrBreak || RegEx(",]}", REGEX_OR))) || RegEx(",?[]{}", REGEX_OR);
+
+		const RegEx EscSingleQuote = RegEx("\'\'");
+		const RegEx EscBreak = RegEx('\\') + Break;
+
+		const RegEx ChompIndicator = RegEx("+-", REGEX_OR);
+		const RegEx Chomp = (ChompIndicator + Digit) || (Digit + ChompIndicator) || ChompIndicator || Digit;
+
+		// and some functions
+		std::string Escape(Stream& in);
+	}
+
+	namespace Keys
+	{
+		const char Directive = '%';
+		const char FlowSeqStart = '[';
+		const char FlowSeqEnd = ']';
+		const char FlowMapStart = '{';
+		const char FlowMapEnd = '}';
+		const char FlowEntry = ',';
+		const char Alias = '*';
+		const char Anchor = '&';
+		const char Tag = '!';
+		const char LiteralScalar = '|';
+		const char FoldedScalar = '>';
+	}
+}
+
+#endif // EXP_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/indentation.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#ifndef INDENTATION_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define INDENTATION_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "ostream.h"
+#include <iostream>
+
+namespace YAML
+{
+	struct Indentation {
+		Indentation(unsigned n_): n(n_) {}
+		unsigned n;
+	};
+	
+	inline ostream& operator << (ostream& out, const Indentation& indent) {
+		for(unsigned i=0;i<indent.n;i++)
+			out << ' ';
+		return out;
+	}
+
+	struct IndentTo {
+		IndentTo(unsigned n_): n(n_) {}
+		unsigned n;
+	};
+	
+	inline ostream& operator << (ostream& out, const IndentTo& indent) {
+		while(out.col() < indent.n)
+			out << ' ';
+		return out;
+	}
+}
+
+
+#endif // INDENTATION_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/iterator.cpp

@@ -0,0 +1,108 @@
+#include "crt.h"
+#include "node.h"
+#include "exceptions.h"
+#include "iterpriv.h"
+
+namespace YAML
+{
+	Iterator::Iterator(): m_pData(0)
+	{
+		m_pData = new IterPriv;
+	}
+
+	Iterator::Iterator(IterPriv *pData): m_pData(pData)
+	{
+	}
+
+	Iterator::Iterator(const Iterator& rhs): m_pData(0)
+	{
+		m_pData = new IterPriv(*rhs.m_pData);
+	}
+
+	Iterator& Iterator::operator = (const Iterator& rhs)
+	{
+		if(this == &rhs)
+			return *this;
+
+		delete m_pData;
+		m_pData = new IterPriv(*rhs.m_pData);
+		return *this;
+	}
+
+	Iterator::~Iterator()
+	{
+		delete m_pData;
+	}
+
+	Iterator& Iterator::operator ++ ()
+	{
+		if(m_pData->type == IterPriv::IT_SEQ)
+			++m_pData->seqIter;
+		else if(m_pData->type == IterPriv::IT_MAP)
+			++m_pData->mapIter;
+
+		return *this;
+	}
+
+	Iterator Iterator::operator ++ (int)
+	{
+		Iterator temp = *this;
+
+		if(m_pData->type == IterPriv::IT_SEQ)
+			++m_pData->seqIter;
+		else if(m_pData->type == IterPriv::IT_MAP)
+			++m_pData->mapIter;
+
+		return temp;
+	}
+
+	const Node& Iterator::operator * () const
+	{
+		if(m_pData->type == IterPriv::IT_SEQ)
+			return **m_pData->seqIter;
+
+		throw BadDereference();
+	}
+
+	const Node *Iterator::operator -> () const
+	{
+		if(m_pData->type == IterPriv::IT_SEQ)
+			return *m_pData->seqIter;
+
+		throw BadDereference();
+	}
+
+	const Node& Iterator::first() const
+	{
+		if(m_pData->type == IterPriv::IT_MAP)
+			return *m_pData->mapIter->first;
+
+		throw BadDereference();
+	}
+
+	const Node& Iterator::second() const
+	{
+		if(m_pData->type == IterPriv::IT_MAP)
+			return *m_pData->mapIter->second;
+
+		throw BadDereference();
+	}
+
+	bool operator == (const Iterator& it, const Iterator& jt)
+	{
+		if(it.m_pData->type != jt.m_pData->type)
+			return false;
+
+		if(it.m_pData->type == IterPriv::IT_SEQ)
+			return it.m_pData->seqIter == jt.m_pData->seqIter;
+		else if(it.m_pData->type == IterPriv::IT_MAP)
+			return it.m_pData->mapIter == jt.m_pData->mapIter;
+
+		return true;
+	}
+
+	bool operator != (const Iterator& it, const Iterator& jt)
+	{
+		return !(it == jt);
+	}
+}

tools/rosdep/yaml-cpp/src/iterpriv.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#ifndef ITERPRIV_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define ITERPRIV_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "ltnode.h"
+#include <vector>
+#include <map>
+
+namespace YAML
+{
+	class Node;
+
+	// IterPriv
+	// . The implementation for iterators - essentially a union of sequence and map iterators.
+	struct IterPriv
+	{
+		IterPriv(): type(IT_NONE) {}
+		IterPriv(std::vector <Node *>::const_iterator it): type(IT_SEQ), seqIter(it) {}
+		IterPriv(std::map <Node *, Node *, ltnode>::const_iterator it): type(IT_MAP), mapIter(it) {}
+
+		enum ITER_TYPE { IT_NONE, IT_SEQ, IT_MAP };
+		ITER_TYPE type;
+
+		std::vector <Node *>::const_iterator seqIter;
+		std::map <Node *, Node *, ltnode>::const_iterator mapIter;
+	};
+}
+
+#endif // ITERPRIV_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/ltnode.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#ifndef LTNODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define LTNODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+namespace YAML
+{
+	class Node;
+
+	struct ltnode {
+		bool operator()(const Node *pNode1, const Node *pNode2) const;
+	};
+}
+
+#endif // LTNODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/map.cpp

@@ -0,0 +1,189 @@
+#include "crt.h"
+#include "map.h"
+#include "node.h"
+#include "scanner.h"
+#include "token.h"
+#include "exceptions.h"
+#include "emitter.h"
+#include <memory>
+
+namespace YAML
+{
+	Map::Map()
+	{
+	}
+	
+	Map::Map(const node_map& data)
+	{
+		for(node_map::const_iterator it=data.begin();it!=data.end();++it) {
+			std::auto_ptr<Node> pKey = it->first->Clone();
+			std::auto_ptr<Node> pValue = it->second->Clone();
+			m_data[pKey.release()] = pValue.release();
+		}
+	}
+
+	Map::~Map()
+	{
+		Clear();
+	}
+
+	void Map::Clear()
+	{
+		for(node_map::const_iterator it=m_data.begin();it!=m_data.end();++it) {
+			delete it->first;
+			delete it->second;
+		}
+		m_data.clear();
+	}
+
+	Content *Map::Clone() const
+	{
+		return new Map(m_data);
+	}
+	
+	bool Map::GetBegin(std::map <Node *, Node *, ltnode>::const_iterator& it) const
+	{
+		it = m_data.begin();
+		return true;
+	}
+
+	bool Map::GetEnd(std::map <Node *, Node *, ltnode>::const_iterator& it) const
+	{
+		it = m_data.end();
+		return true;
+	}
+
+	std::size_t Map::GetSize() const
+	{
+		return m_data.size();
+	}
+
+	void Map::Parse(Scanner *pScanner, const ParserState& state)
+	{
+		Clear();
+
+		// split based on start token
+		switch(pScanner->peek().type) {
+			case Token::BLOCK_MAP_START: ParseBlock(pScanner, state); break;
+			case Token::FLOW_MAP_START: ParseFlow(pScanner, state); break;
+			default: break;
+		}
+	}
+
+	void Map::ParseBlock(Scanner *pScanner, const ParserState& state)
+	{
+		// eat start token
+		pScanner->pop();
+
+		while(1) {
+			if(pScanner->empty())
+				throw ParserException(Mark::null(), ErrorMsg::END_OF_MAP);
+
+			Token token = pScanner->peek();
+			if(token.type != Token::KEY && token.type != Token::VALUE && token.type != Token::BLOCK_MAP_END)
+				throw ParserException(token.mark, ErrorMsg::END_OF_MAP);
+
+			if(token.type == Token::BLOCK_MAP_END) {
+				pScanner->pop();
+				break;
+			}
+
+			std::auto_ptr <Node> pKey(new Node), pValue(new Node);
+			
+			// grab key (if non-null)
+			if(token.type == Token::KEY) {
+				pScanner->pop();
+				pKey->Parse(pScanner, state);
+			}
+
+			// now grab value (optional)
+			if(!pScanner->empty() && pScanner->peek().type == Token::VALUE) {
+				pScanner->pop();
+				pValue->Parse(pScanner, state);
+			}
+
+			// assign the map with the actual pointers
+			m_data[pKey.release()] = pValue.release();
+		}
+	}
+
+	void Map::ParseFlow(Scanner *pScanner, const ParserState& state)
+	{
+		// eat start token
+		pScanner->pop();
+
+		while(1) {
+			if(pScanner->empty())
+				throw ParserException(Mark::null(), ErrorMsg::END_OF_MAP_FLOW);
+
+			Token& token = pScanner->peek();
+			// first check for end
+			if(token.type == Token::FLOW_MAP_END) {
+				pScanner->pop();
+				break;
+			}
+			
+			std::auto_ptr <Node> pKey(new Node), pValue(new Node);
+
+			// grab key (if non-null)
+			if(token.type == Token::KEY) {
+				pScanner->pop();
+				pKey->Parse(pScanner, state);
+			}
+			
+			// now grab value (optional)
+			if(!pScanner->empty() && pScanner->peek().type == Token::VALUE) {
+				pScanner->pop();
+				pValue->Parse(pScanner, state);
+			}
+			
+			// now eat the separator (or could be a map end, which we ignore - but if it's neither, then it's a bad node)
+			Token& nextToken = pScanner->peek();
+			if(nextToken.type == Token::FLOW_ENTRY)
+				pScanner->pop();
+			else if(nextToken.type != Token::FLOW_MAP_END)
+				throw ParserException(nextToken.mark, ErrorMsg::END_OF_MAP_FLOW);
+
+			// assign the map with the actual pointers
+			m_data[pKey.release()] = pValue.release();
+		}
+	}
+
+	void Map::Write(Emitter& out) const
+	{
+		out << BeginMap;
+		for(node_map::const_iterator it=m_data.begin();it!=m_data.end();++it)
+			out << Key << *it->first << Value << *it->second;
+		out << EndMap;
+	}
+
+	int Map::Compare(Content *pContent)
+	{
+		return -pContent->Compare(this);
+	}
+
+	int Map::Compare(Map *pMap)
+	{
+		node_map::const_iterator it = m_data.begin(), jt = pMap->m_data.begin();
+		while(1) {
+			if(it == m_data.end()) {
+				if(jt == pMap->m_data.end())
+					return 0;
+				else
+					return -1;
+			}
+			if(jt == pMap->m_data.end())
+				return 1;
+
+			int cmp = it->first->Compare(*jt->first);
+			if(cmp != 0)
+				return cmp;
+
+			cmp = it->second->Compare(*jt->second);
+			if(cmp != 0)
+				return cmp;
+		}
+
+		return 0;
+	}
+}

tools/rosdep/yaml-cpp/src/map.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#ifndef MAP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define MAP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "content.h"
+#include <map>
+
+namespace YAML
+{
+	class Node;
+
+	class Map: public Content
+	{
+	private:
+		typedef std::map <Node *, Node *, ltnode> node_map;
+
+	public:
+		Map();
+		Map(const node_map& data);
+		virtual ~Map();
+
+		void Clear();
+		virtual Content *Clone() const;
+
+		virtual bool GetBegin(std::map <Node *, Node *, ltnode>::const_iterator& it) const;
+		virtual bool GetEnd(std::map <Node *, Node *, ltnode>::const_iterator& it) const;
+		virtual std::size_t GetSize() const;
+		virtual void Parse(Scanner *pScanner, const ParserState& state);
+		virtual void Write(Emitter& out) const;
+
+		virtual bool IsMap() const { return true; }
+
+		// ordering
+		virtual int Compare(Content *pContent);
+		virtual int Compare(Scalar *) { return 1; }
+		virtual int Compare(Sequence *) { return 1; }
+		virtual int Compare(Map *pMap);
+
+	private:
+		void ParseBlock(Scanner *pScanner, const ParserState& state);
+		void ParseFlow(Scanner *pScanner, const ParserState& state);
+
+	private:
+		node_map m_data;
+	};
+}
+
+#endif // MAP_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/node.cpp

@@ -0,0 +1,292 @@
+#include "crt.h"
+#include "node.h"
+#include "token.h"
+#include "scanner.h"
+#include "content.h"
+#include "parser.h"
+#include "scalar.h"
+#include "sequence.h"
+#include "map.h"
+#include "aliascontent.h"
+#include "iterpriv.h"
+#include "emitter.h"
+#include <stdexcept>
+
+namespace YAML
+{
+	// the ordering!
+	bool ltnode::operator ()(const Node *pNode1, const Node *pNode2) const
+	{
+		return *pNode1 < *pNode2;
+	}
+
+	Node::Node(): m_pContent(0), m_alias(false), m_pIdentity(this), m_referenced(true)
+	{
+	}
+
+	Node::Node(const Mark& mark, const std::string& anchor, const std::string& tag, const Content *pContent)
+	: m_mark(mark), m_anchor(anchor), m_tag(tag), m_pContent(0), m_alias(false), m_pIdentity(this), m_referenced(false)
+	{
+		if(m_pContent)
+			m_pContent = pContent->Clone();
+	}
+
+	Node::~Node()
+	{
+		Clear();
+	}
+
+	void Node::Clear()
+	{
+		delete m_pContent;
+		m_pContent = 0;
+		m_alias = false;
+		m_referenced = false;
+		m_anchor.clear();
+		m_tag.clear();
+	}
+	
+	std::auto_ptr<Node> Node::Clone() const
+	{
+		if(m_alias)
+			throw std::runtime_error("yaml-cpp: Can't clone alias");  // TODO: what to do about aliases?
+		
+		return std::auto_ptr<Node> (new Node(m_mark, m_anchor, m_tag, m_pContent));
+	}
+
+	void Node::Parse(Scanner *pScanner, const ParserState& state)
+	{
+		Clear();
+
+		// an empty node *is* a possibility
+		if(pScanner->empty())
+			return;
+
+		// save location
+		m_mark = pScanner->peek().mark;
+
+		ParseHeader(pScanner, state);
+
+		// is this an alias? if so, its contents are an alias to
+		// a previously defined anchor
+		if(m_alias) {
+			// the scanner throws an exception if it doesn't know this anchor name
+			const Node *pReferencedNode = pScanner->Retrieve(m_anchor);
+			m_pIdentity = pReferencedNode;
+
+			// mark the referenced node for the sake of the client code
+			pReferencedNode->m_referenced = true;
+
+			// use of an Alias object keeps the referenced content from
+			// being deleted twice
+			Content *pAliasedContent = pReferencedNode->m_pContent;
+			if(pAliasedContent)
+				m_pContent = new AliasContent(pAliasedContent);
+			
+			return;
+		}
+
+		// now split based on what kind of node we should be
+		switch(pScanner->peek().type) {
+			case Token::SCALAR:
+				m_pContent = new Scalar;
+				break;
+			case Token::FLOW_SEQ_START:
+			case Token::BLOCK_SEQ_START:
+				m_pContent = new Sequence;
+				break;
+			case Token::FLOW_MAP_START:
+			case Token::BLOCK_MAP_START:
+				m_pContent = new Map;
+				break;
+			default:
+//				std::stringstream str;
+//				str << TokenNames[pScanner->peek().type];
+//				throw std::runtime_error(str.str());
+				break;
+		}
+
+		// Have to save anchor before parsing to allow for aliases as
+		// contained node (recursive structure)
+		if(!m_anchor.empty())
+			pScanner->Save(m_anchor, this);
+
+		if(m_pContent)
+			m_pContent->Parse(pScanner, state);
+	}
+
+	// ParseHeader
+	// . Grabs any tag, alias, or anchor tokens and deals with them.
+	void Node::ParseHeader(Scanner *pScanner, const ParserState& state)
+	{
+		while(1) {
+			if(pScanner->empty())
+				return;
+
+			switch(pScanner->peek().type) {
+				case Token::TAG: ParseTag(pScanner, state); break;
+				case Token::ANCHOR: ParseAnchor(pScanner, state); break;
+				case Token::ALIAS: ParseAlias(pScanner, state); break;
+				default: return;
+			}
+		}
+	}
+
+	void Node::ParseTag(Scanner *pScanner, const ParserState& state)
+	{
+		Token& token = pScanner->peek();
+		if(m_tag != "")
+			throw ParserException(token.mark, ErrorMsg::MULTIPLE_TAGS);
+
+		m_tag = state.TranslateTag(token.value);
+
+		for(std::size_t i=0;i<token.params.size();i++)
+			m_tag += token.params[i];
+		pScanner->pop();
+	}
+	
+	void Node::ParseAnchor(Scanner *pScanner, const ParserState& /*state*/)
+	{
+		Token& token = pScanner->peek();
+		if(m_anchor != "")
+			throw ParserException(token.mark, ErrorMsg::MULTIPLE_ANCHORS);
+
+		m_anchor = token.value;
+		m_alias = false;
+		pScanner->pop();
+	}
+
+	void Node::ParseAlias(Scanner *pScanner, const ParserState& /*state*/)
+	{
+		Token& token = pScanner->peek();
+		if(m_anchor != "")
+			throw ParserException(token.mark, ErrorMsg::MULTIPLE_ALIASES);
+		if(m_tag != "")
+			throw ParserException(token.mark, ErrorMsg::ALIAS_CONTENT);
+
+		m_anchor = token.value;
+		m_alias = true;
+		pScanner->pop();
+	}
+
+	CONTENT_TYPE Node::GetType() const
+	{
+		if(!m_pContent)
+			return CT_NONE;
+
+		if(m_pContent->IsScalar())
+			return CT_SCALAR;
+		else if(m_pContent->IsSequence())
+			return CT_SEQUENCE;
+		else if(m_pContent->IsMap())
+			return CT_MAP;
+			
+		return CT_NONE;
+	}
+
+	// begin
+	// Returns an iterator to the beginning of this (sequence or map).
+	Iterator Node::begin() const
+	{
+		if(!m_pContent)
+			return Iterator();
+
+		std::vector <Node *>::const_iterator seqIter;
+		if(m_pContent->GetBegin(seqIter))
+			return Iterator(new IterPriv(seqIter));
+
+		std::map <Node *, Node *, ltnode>::const_iterator mapIter;
+		if(m_pContent->GetBegin(mapIter))
+			return Iterator(new IterPriv(mapIter));
+
+		return Iterator();
+	}
+
+	// end
+	// . Returns an iterator to the end of this (sequence or map).
+	Iterator Node::end() const
+	{
+		if(!m_pContent)
+			return Iterator();
+
+		std::vector <Node *>::const_iterator seqIter;
+		if(m_pContent->GetEnd(seqIter))
+			return Iterator(new IterPriv(seqIter));
+
+		std::map <Node *, Node *, ltnode>::const_iterator mapIter;
+		if(m_pContent->GetEnd(mapIter))
+			return Iterator(new IterPriv(mapIter));
+
+		return Iterator();
+	}
+
+	// size
+	// . Returns the size of this node, if it's a sequence node.
+	// . Otherwise, returns zero.
+	std::size_t Node::size() const
+	{
+		if(!m_pContent)
+			return 0;
+
+		return m_pContent->GetSize();
+	}
+
+	const Node *Node::FindAtIndex(std::size_t i) const
+	{
+		if(!m_pContent)
+			return 0;
+		
+		return m_pContent->GetNode(i);
+	}
+
+	bool Node::GetScalar(std::string& s) const
+	{
+		if(!m_pContent) {
+			s = "~";
+			return true;
+		}
+		
+		return m_pContent->GetScalar(s);
+	}
+
+	Emitter& operator << (Emitter& out, const Node& node)
+	{
+		// write anchor/alias
+		if(node.m_anchor != "") {
+			if(node.m_alias)
+				out << Alias(node.m_anchor);
+			else
+				out << Anchor(node.m_anchor);
+		}
+
+		// TODO: write tag
+
+		// write content
+		if(node.m_pContent)
+			node.m_pContent->Write(out);
+		else if(!node.m_alias)
+			out << Null;
+
+		return out;
+	}
+
+	int Node::Compare(const Node& rhs) const
+	{
+		// Step 1: no content is the smallest
+		if(!m_pContent) {
+			if(rhs.m_pContent)
+				return -1;
+			else
+				return 0;
+		}
+		if(!rhs.m_pContent)
+			return 1;
+
+		return m_pContent->Compare(rhs.m_pContent);
+	}
+
+	bool operator < (const Node& n1, const Node& n2)
+	{
+		return n1.Compare(n2) < 0;
+	}
+}

tools/rosdep/yaml-cpp/src/null.cpp

@@ -0,0 +1,12 @@
+#include "null.h"
+#include "node.h"
+
+namespace YAML
+{
+	_Null Null;
+
+	bool IsNull(const Node& node)
+	{
+		return node.Read(Null);
+	}
+}

tools/rosdep/yaml-cpp/src/ostream.cpp

@@ -0,0 +1,63 @@
+#include "ostream.h"
+#include <cstring>
+
+namespace YAML
+{
+	ostream::ostream(): m_buffer(0), m_pos(0), m_size(0), m_row(0), m_col(0)
+	{
+		reserve(1024);
+	}
+	
+	ostream::~ostream()
+	{
+		delete [] m_buffer;
+	}
+	
+	void ostream::reserve(unsigned size)
+	{
+		if(size <= m_size)
+			return;
+		
+		char *newBuffer = new char[size];
+		std::memset(newBuffer, 0, size * sizeof(char));
+		std::memcpy(newBuffer, m_buffer, m_size * sizeof(char));
+		delete [] m_buffer;
+		m_buffer = newBuffer;
+		m_size = size;
+	}
+	
+	void ostream::put(char ch)
+	{
+		if(m_pos >= m_size - 1)   // an extra space for the NULL terminator
+			reserve(m_size * 2);
+		
+		m_buffer[m_pos] = ch;
+		m_pos++;
+		
+		if(ch == '\n') {
+			m_row++;
+			m_col = 0;
+		} else
+			m_col++;
+	}
+
+	ostream& operator << (ostream& out, const char *str)
+	{
+		std::size_t length = std::strlen(str);
+		for(std::size_t i=0;i<length;i++)
+			out.put(str[i]);
+		return out;
+	}
+	
+	ostream& operator << (ostream& out, const std::string& str)
+	{
+		out << str.c_str();
+		return out;
+	}
+	
+	ostream& operator << (ostream& out, char ch)
+	{
+		out.put(ch);
+		return out;
+	}
+}

tools/rosdep/yaml-cpp/src/parser.cpp

@@ -0,0 +1,147 @@
+#include "crt.h"
+#include "parser.h"
+#include "scanner.h"
+#include "token.h"
+#include "exceptions.h"
+#include <sstream>
+#include <cstdio>
+
+namespace YAML
+{
+	Parser::Parser()
+	{
+	}
+	
+	Parser::Parser(std::istream& in)
+	{
+		Load(in);
+	}
+
+	Parser::~Parser()
+	{
+	}
+
+	Parser::operator bool() const
+	{
+		return m_pScanner.get() && !m_pScanner->empty();
+	}
+
+	void Parser::Load(std::istream& in)
+	{
+		m_pScanner.reset(new Scanner(in));
+		m_state.Reset();
+	}
+
+	// GetNextDocument
+	// . Reads the next document in the queue (of tokens).
+	// . Throws a ParserException on error.
+	bool Parser::GetNextDocument(Node& document)
+	{
+		if(!m_pScanner.get())
+			return false;
+		
+		// clear node
+		document.Clear();
+
+		// first read directives
+		ParseDirectives();
+
+		// we better have some tokens in the queue
+		if(m_pScanner->empty())
+			return false;
+
+		// first eat doc start (optional)
+		if(m_pScanner->peek().type == Token::DOC_START)
+			m_pScanner->pop();
+
+		// now parse our root node
+		document.Parse(m_pScanner.get(), m_state);
+
+		// and finally eat any doc ends we see
+		while(!m_pScanner->empty() && m_pScanner->peek().type == Token::DOC_END)
+			m_pScanner->pop();
+
+		// clear anchors from the scanner, which are no longer relevant
+		m_pScanner->ClearAnchors();
+		
+		return true;
+	}
+
+	// ParseDirectives
+	// . Reads any directives that are next in the queue.
+	void Parser::ParseDirectives()
+	{
+		bool readDirective = false;
+
+		while(1) {
+			if(m_pScanner->empty())
+				break;
+
+			Token& token = m_pScanner->peek();
+			if(token.type != Token::DIRECTIVE)
+				break;
+
+			// we keep the directives from the last document if none are specified;
+			// but if any directives are specific, then we reset them
+			if(!readDirective)
+				m_state.Reset();
+
+			readDirective = true;
+			HandleDirective(&token);
+			m_pScanner->pop();
+		}
+	}
+
+	void Parser::HandleDirective(Token *pToken)
+	{
+		if(pToken->value == "YAML")
+			HandleYamlDirective(pToken);
+		else if(pToken->value == "TAG")
+			HandleTagDirective(pToken);
+	}
+
+	// HandleYamlDirective
+	// . Should be of the form 'major.minor' (like a version number)
+	void Parser::HandleYamlDirective(Token *pToken)
+	{
+		if(pToken->params.size() != 1)
+			throw ParserException(pToken->mark, ErrorMsg::YAML_DIRECTIVE_ARGS);
+
+		std::stringstream str(pToken->params[0]);
+		str >> m_state.version.major;
+		str.get();
+		str >> m_state.version.minor;
+		if(!str || str.peek() != EOF)
+			throw ParserException(pToken->mark, ErrorMsg::YAML_VERSION + pToken->params[0]);
+
+		if(m_state.version.major > 1)
+			throw ParserException(pToken->mark, ErrorMsg::YAML_MAJOR_VERSION);
+
+		// TODO: warning on major == 1, minor > 2?
+	}
+
+	// HandleTagDirective
+	// . Should be of the form 'handle prefix', where 'handle' is converted to 'prefix' in the file.
+	void Parser::HandleTagDirective(Token *pToken)
+	{
+		if(pToken->params.size() != 2)
+			throw ParserException(pToken->mark, ErrorMsg::TAG_DIRECTIVE_ARGS);
+
+		std::string handle = pToken->params[0], prefix = pToken->params[1];
+		m_state.tags[handle] = prefix;
+	}
+
+	void Parser::PrintTokens(std::ostream& out)
+	{
+		if(!m_pScanner.get())
+			return;
+		
+		while(1) {
+			if(m_pScanner->empty())
+				break;
+
+			out << m_pScanner->peek() << "\n";
+			m_pScanner->pop();
+		}
+	}
+}

tools/rosdep/yaml-cpp/src/parserstate.cpp

@@ -0,0 +1,26 @@
+#include "crt.h"
+#include "parserstate.h"
+
+namespace YAML
+{
+	void ParserState::Reset()
+	{
+		// version
+		version.major = 1;
+		version.minor = 2;
+
+		// and tags
+		tags.clear();
+		tags["!"] = "!";
+		tags["!!"] = "tag:yaml.org,2002:";
+	}
+
+	std::string ParserState::TranslateTag(const std::string& handle) const
+	{
+		std::map <std::string, std::string>::const_iterator it = tags.find(handle);
+		if(it == tags.end())
+			return handle;
+
+		return it->second;
+	}
+}

tools/rosdep/yaml-cpp/src/regex.cpp

@@ -0,0 +1,61 @@
+#include "crt.h"
+#include "regex.h"
+
+namespace YAML
+{
+	// constructors
+	RegEx::RegEx(): m_op(REGEX_EMPTY)
+	{
+	}
+	
+	RegEx::RegEx(REGEX_OP op): m_op(op)
+	{
+	}
+	
+	RegEx::RegEx(char ch): m_op(REGEX_MATCH), m_a(ch)
+	{
+	}
+	
+	RegEx::RegEx(char a, char z): m_op(REGEX_RANGE), m_a(a), m_z(z)
+	{
+	}
+	
+	RegEx::RegEx(const std::string& str, REGEX_OP op): m_op(op)
+	{
+		for(std::size_t i=0;i<str.size();i++)
+			m_params.push_back(RegEx(str[i]));
+	}
+	
+	// combination constructors
+	RegEx operator ! (const RegEx& ex)
+	{
+		RegEx ret(REGEX_NOT);
+		ret.m_params.push_back(ex);
+		return ret;
+	}
+	
+	RegEx operator || (const RegEx& ex1, const RegEx& ex2)
+	{
+		RegEx ret(REGEX_OR);
+		ret.m_params.push_back(ex1);
+		ret.m_params.push_back(ex2);
+		return ret;
+	}
+	
+	RegEx operator && (const RegEx& ex1, const RegEx& ex2)
+	{
+		RegEx ret(REGEX_AND);
+		ret.m_params.push_back(ex1);
+		ret.m_params.push_back(ex2);
+		return ret;
+	}
+	
+	RegEx operator + (const RegEx& ex1, const RegEx& ex2)
+	{
+		RegEx ret(REGEX_SEQ);
+		ret.m_params.push_back(ex1);
+		ret.m_params.push_back(ex2);
+		return ret;
+	}	
+}
+

tools/rosdep/yaml-cpp/src/regex.h

@@ -0,0 +1,65 @@
+#pragma once
+
+#ifndef REGEX_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define REGEX_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <vector>
+#include <string>
+
+namespace YAML
+{
+	class Stream;
+
+	enum REGEX_OP { REGEX_EMPTY, REGEX_MATCH, REGEX_RANGE, REGEX_OR, REGEX_AND, REGEX_NOT, REGEX_SEQ };
+
+	// simplified regular expressions
+	// . Only straightforward matches (no repeated characters)
+	// . Only matches from start of string
+	class RegEx
+	{
+	public:
+		RegEx();
+		RegEx(char ch);
+		RegEx(char a, char z);
+		RegEx(const std::string& str, REGEX_OP op = REGEX_SEQ);
+		~RegEx() {}
+
+		friend RegEx operator ! (const RegEx& ex);
+		friend RegEx operator || (const RegEx& ex1, const RegEx& ex2);
+		friend RegEx operator && (const RegEx& ex1, const RegEx& ex2);
+		friend RegEx operator + (const RegEx& ex1, const RegEx& ex2);
+		
+		bool Matches(char ch) const;
+		bool Matches(const std::string& str) const;
+		bool Matches(const Stream& in) const;
+		template <typename Source> bool Matches(const Source& source) const;
+
+		int Match(const std::string& str) const;
+		int Match(const Stream& in) const;
+
+	private:
+		RegEx(REGEX_OP op);
+		
+		template <typename Source> bool IsValidSource(const Source& source) const;
+		template <typename Source> int Match(const Source& source) const;
+		template <typename Source> int MatchUnchecked(const Source& source) const;
+
+		template <typename Source> int MatchOpEmpty(const Source& source) const;
+		template <typename Source> int MatchOpMatch(const Source& source) const;
+		template <typename Source> int MatchOpRange(const Source& source) const;
+		template <typename Source> int MatchOpOr(const Source& source) const;
+		template <typename Source> int MatchOpAnd(const Source& source) const;
+		template <typename Source> int MatchOpNot(const Source& source) const;
+		template <typename Source> int MatchOpSeq(const Source& source) const;
+
+	private:
+		REGEX_OP m_op;
+		char m_a, m_z;
+		std::vector <RegEx> m_params;
+	};
+}
+
+#include "regeximpl.h"
+
+#endif // REGEX_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/regeximpl.h

@@ -0,0 +1,178 @@
+#pragma once
+
+#ifndef REGEXIMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define REGEXIMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "stream.h"
+#include "stringsource.h"
+#include "streamcharsource.h"
+
+namespace YAML
+{
+	// query matches
+	inline bool RegEx::Matches(char ch) const {
+		std::string str;
+		str += ch;
+		return Matches(str);
+	}
+	
+	inline bool RegEx::Matches(const std::string& str) const {
+		return Match(str) >= 0;
+	}
+	
+	inline bool RegEx::Matches(const Stream& in) const {
+		return Match(in) >= 0;
+	}
+
+	template <typename Source>
+	inline bool RegEx::Matches(const Source& source) const {
+		return Match(source) >= 0;
+	}
+
+	// Match
+	// . Matches the given string against this regular expression.
+	// . Returns the number of characters matched.
+	// . Returns -1 if no characters were matched (the reason for
+	//   not returning zero is that we may have an empty regex
+	//   which is ALWAYS successful at matching zero characters).
+	// . REMEMBER that we only match from the start of the buffer!	
+	inline int RegEx::Match(const std::string& str) const
+	{
+		StringCharSource source(str.c_str(), str.size());
+		return Match(source);
+	}
+	
+	inline int RegEx::Match(const Stream& in) const
+	{
+		StreamCharSource source(in);
+		return Match(source);
+	}
+
+	template <typename Source>
+	inline bool RegEx::IsValidSource(const Source& source) const
+	{
+		return source;
+	}
+	
+	template<>
+	inline bool RegEx::IsValidSource<StringCharSource>(const StringCharSource&source) const
+	{
+		return source || m_op == REGEX_EMPTY;
+	}
+
+	template <typename Source>
+	inline int RegEx::Match(const Source& source) const
+	{
+		return IsValidSource(source) ? MatchUnchecked(source) : -1;
+	}
+	
+	template <typename Source>
+	inline int RegEx::MatchUnchecked(const Source& source) const
+	{
+		switch(m_op) {
+			case REGEX_EMPTY:
+				return MatchOpEmpty(source);
+			case REGEX_MATCH:
+				return MatchOpMatch(source);
+			case REGEX_RANGE:
+				return MatchOpRange(source);
+			case REGEX_OR:
+				return MatchOpOr(source);
+			case REGEX_AND:
+				return MatchOpAnd(source);
+			case REGEX_NOT:
+				return MatchOpNot(source);
+			case REGEX_SEQ:
+				return MatchOpSeq(source);
+		}
+		
+		return -1;
+	}
+
+	//////////////////////////////////////////////////////////////////////////////
+	// Operators
+	// Note: the convention MatchOp*<Source> is that we can assume IsSourceValid(source).
+	//       So we do all our checks *before* we call these functions
+	
+	// EmptyOperator
+	template <typename Source>
+	inline int RegEx::MatchOpEmpty(const Source& source) const {
+		return source[0] == Stream::eof() ? 0 : -1;
+	}
+	
+	template <>
+	inline int RegEx::MatchOpEmpty<StringCharSource>(const StringCharSource& source) const {
+		return !source ? 0 : -1;  // the empty regex only is successful on the empty string
+	}
+
+	// MatchOperator
+	template <typename Source>
+	inline int RegEx::MatchOpMatch(const Source& source) const {
+		if(source[0] != m_a)
+			return -1;
+		return 1;
+	}
+	
+	// RangeOperator
+	template <typename Source>
+	inline int RegEx::MatchOpRange(const Source& source) const {
+		if(m_a > source[0] || m_z < source[0])
+			return -1;
+		return 1;
+	}
+	
+	// OrOperator
+	template <typename Source>
+	inline int RegEx::MatchOpOr(const Source& source) const {
+		for(std::size_t i=0;i<m_params.size();i++) {
+			int n = m_params[i].MatchUnchecked(source);
+			if(n >= 0)
+				return n;
+		}
+		return -1;
+	}
+	
+	// AndOperator
+	// Note: 'AND' is a little funny, since we may be required to match things
+	//       of different lengths. If we find a match, we return the length of
+	//       the FIRST entry on the list.
+	template <typename Source>
+	inline int RegEx::MatchOpAnd(const Source& source) const {
+		int first = -1;
+		for(std::size_t i=0;i<m_params.size();i++) {
+			int n = m_params[i].MatchUnchecked(source);
+			if(n == -1)
+				return -1;
+			if(i == 0)
+				first = n;
+		}
+		return first;
+	}
+	
+	// NotOperator
+	template <typename Source>
+	inline int RegEx::MatchOpNot(const Source& source) const {
+		if(m_params.empty())
+			return -1;
+		if(m_params[0].MatchUnchecked(source) >= 0)
+			return -1;
+		return 1;
+	}
+	
+	// SeqOperator
+	template <typename Source>
+	inline int RegEx::MatchOpSeq(const Source& source) const {
+		int offset = 0;
+		for(std::size_t i=0;i<m_params.size();i++) {
+			int n = m_params[i].Match(source + offset); // note Match, not MatchUnchecked because we need to check validity after the offset
+			if(n == -1)
+				return -1;
+			offset += n;
+		}
+		
+		return offset;
+	}
+}
+
+#endif // REGEXIMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/scalar.cpp

@@ -0,0 +1,55 @@
+#include "crt.h"
+#include "scalar.h"
+#include "scanner.h"
+#include "token.h"
+#include "exceptions.h"
+#include "node.h"
+#include "emitter.h"
+
+namespace YAML
+{
+	Scalar::Scalar()
+	{
+	}
+
+	Scalar::Scalar(const std::string& data): m_data(data)
+	{
+	}
+
+	Scalar::~Scalar()
+	{
+	}
+
+	Content *Scalar::Clone() const
+	{
+		return new Scalar(m_data);
+	}
+
+	void Scalar::Parse(Scanner *pScanner, const ParserState& /*state*/)
+	{
+		Token& token = pScanner->peek();
+		m_data = token.value;
+		pScanner->pop();
+	}
+
+	void Scalar::Write(Emitter& out) const
+	{
+		out << m_data;
+	}
+
+	int Scalar::Compare(Content *pContent)
+	{
+		return -pContent->Compare(this);
+	}
+
+	int Scalar::Compare(Scalar *pScalar)
+	{
+		if(m_data < pScalar->m_data)
+			return -1;
+		else if(m_data > pScalar->m_data)
+			return 1;
+		else
+			return 0;
+	}
+}
+

tools/rosdep/yaml-cpp/src/scalar.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#ifndef SCALAR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define SCALAR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "content.h"
+#include <string>
+
+namespace YAML
+{
+	class Scalar: public Content
+	{
+	public:
+		Scalar();
+		Scalar(const std::string& data);
+		virtual ~Scalar();
+
+		virtual Content *Clone() const;
+
+		virtual void Parse(Scanner *pScanner, const ParserState& state);
+		virtual void Write(Emitter& out) const;
+
+		virtual bool IsScalar() const { return true; }
+
+		// extraction
+		virtual bool GetScalar(std::string& scalar) const {
+			scalar = m_data;
+			return true;
+		}
+
+		// ordering
+		virtual int Compare(Content *pContent);
+		virtual int Compare(Scalar *pScalar);
+		virtual int Compare(Sequence *) { return -1; }
+		virtual int Compare(Map *) { return -1; }
+
+	protected:
+		std::string m_data;
+	};
+}
+
+#endif // SCALAR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+

tools/rosdep/yaml-cpp/src/scanner.cpp

@@ -0,0 +1,391 @@
+#include "crt.h"
+#include "scanner.h"
+#include "token.h"
+#include "exceptions.h"
+#include "exp.h"
+#include <cassert>
+
+namespace YAML
+{
+	Scanner::Scanner(std::istream& in)
+		: INPUT(in), m_startedStream(false), m_endedStream(false), m_simpleKeyAllowed(false)
+	{
+	}
+
+	Scanner::~Scanner()
+	{
+	}
+
+	// empty
+	// . Returns true if there are no more tokens to be read
+	bool Scanner::empty()
+	{
+		EnsureTokensInQueue();
+		return m_tokens.empty();
+	}
+
+	// pop
+	// . Simply removes the next token on the queue.
+	void Scanner::pop()
+	{
+		EnsureTokensInQueue();
+		if(!m_tokens.empty()) {
+			// Saved anchors shouldn't survive popping the document end marker
+			if (m_tokens.front().type == Token::DOC_END) {
+				ClearAnchors();
+			}
+			m_tokens.pop();
+		}
+	}
+
+	// peek
+	// . Returns (but does not remove) the next token on the queue.
+	Token& Scanner::peek()
+	{
+		EnsureTokensInQueue();
+		assert(!m_tokens.empty());  // should we be asserting here? I mean, we really just be checking
+		                            // if it's empty before peeking.
+
+#if 0
+		static Token *pLast = 0;
+		if(pLast != &m_tokens.front())
+			std::cerr << "peek: " << m_tokens.front() << "\n";
+		pLast = &m_tokens.front();
+#endif
+
+		return m_tokens.front();
+	}
+
+	// EnsureTokensInQueue
+	// . Scan until there's a valid token at the front of the queue,
+	//   or we're sure the queue is empty.
+	void Scanner::EnsureTokensInQueue()
+	{
+		while(1) {
+			if(!m_tokens.empty()) {
+				Token& token = m_tokens.front();
+
+				// if this guy's valid, then we're done
+				if(token.status == Token::VALID)
+					return;
+
+				// here's where we clean up the impossible tokens
+				if(token.status == Token::INVALID) {
+					m_tokens.pop();
+					continue;
+				}
+
+				// note: what's left are the unverified tokens
+			}
+
+			// no token? maybe we've actually finished
+			if(m_endedStream)
+				return;
+
+			// no? then scan...
+			ScanNextToken();
+		}
+	}
+
+	// ScanNextToken
+	// . The main scanning function; here we branch out and
+	//   scan whatever the next token should be.
+	void Scanner::ScanNextToken()
+	{
+		if(m_endedStream)
+			return;
+
+		if(!m_startedStream)
+			return StartStream();
+
+		// get rid of whitespace, etc. (in between tokens it should be irrelevent)
+		ScanToNextToken();
+
+		// maybe need to end some blocks
+		PopIndentToHere();
+
+		// *****
+		// And now branch based on the next few characters!
+		// *****
+		
+		// end of stream
+		if(!INPUT)
+			return EndStream();
+
+		if(INPUT.column() == 0 && INPUT.peek() == Keys::Directive)
+			return ScanDirective();
+
+		// document token
+		if(INPUT.column() == 0 && Exp::DocStart.Matches(INPUT))
+			return ScanDocStart();
+
+		if(INPUT.column() == 0 && Exp::DocEnd.Matches(INPUT))
+			return ScanDocEnd();
+
+		// flow start/end/entry
+		if(INPUT.peek() == Keys::FlowSeqStart || INPUT.peek() == Keys::FlowMapStart)
+			return ScanFlowStart();
+
+		if(INPUT.peek() == Keys::FlowSeqEnd || INPUT.peek() == Keys::FlowMapEnd)
+			return ScanFlowEnd();
+	
+		if(INPUT.peek() == Keys::FlowEntry)
+			return ScanFlowEntry();
+
+		// block/map stuff
+		if(Exp::BlockEntry.Matches(INPUT))
+			return ScanBlockEntry();
+
+		if((InBlockContext() ? Exp::Key : Exp::KeyInFlow).Matches(INPUT))
+			return ScanKey();
+
+		if((InBlockContext() ? Exp::Value : Exp::ValueInFlow).Matches(INPUT))
+			return ScanValue();
+
+		// alias/anchor
+		if(INPUT.peek() == Keys::Alias || INPUT.peek() == Keys::Anchor)
+			return ScanAnchorOrAlias();
+
+		// tag
+		if(INPUT.peek() == Keys::Tag)
+			return ScanTag();
+
+		// special scalars
+		if(InBlockContext() && (INPUT.peek() == Keys::LiteralScalar || INPUT.peek() == Keys::FoldedScalar))
+			return ScanBlockScalar();
+
+		if(INPUT.peek() == '\'' || INPUT.peek() == '\"')
+			return ScanQuotedScalar();
+
+		// plain scalars
+		if((InBlockContext() ? Exp::PlainScalar : Exp::PlainScalarInFlow).Matches(INPUT))
+			return ScanPlainScalar();
+
+		// don't know what it is!
+		throw ParserException(INPUT.mark(), ErrorMsg::UNKNOWN_TOKEN);
+	}
+
+	// ScanToNextToken
+	// . Eats input until we reach the next token-like thing.
+	void Scanner::ScanToNextToken()
+	{
+		while(1) {
+			// first eat whitespace
+			while(INPUT && IsWhitespaceToBeEaten(INPUT.peek())) {
+				if(InBlockContext() && Exp::Tab.Matches(INPUT))
+					m_simpleKeyAllowed = false;
+				INPUT.eat(1);
+			}
+
+			// then eat a comment
+			if(Exp::Comment.Matches(INPUT)) {
+				// eat until line break
+				while(INPUT && !Exp::Break.Matches(INPUT))
+					INPUT.eat(1);
+			}
+
+			// if it's NOT a line break, then we're done!
+			if(!Exp::Break.Matches(INPUT))
+				break;
+
+			// otherwise, let's eat the line break and keep going
+			int n = Exp::Break.Match(INPUT);
+			INPUT.eat(n);
+
+			// oh yeah, and let's get rid of that simple key
+			InvalidateSimpleKey();
+
+			// new line - we may be able to accept a simple key now
+			if(InBlockContext())
+				m_simpleKeyAllowed = true;
+        }
+	}
+
+	///////////////////////////////////////////////////////////////////////
+	// Misc. helpers
+
+	// IsWhitespaceToBeEaten
+	// . We can eat whitespace if it's a space or tab
+	// . Note: originally tabs in block context couldn't be eaten
+	//         "where a simple key could be allowed
+	//         (i.e., not at the beginning of a line, or following '-', '?', or ':')"
+	//   I think this is wrong, since tabs can be non-content whitespace; it's just
+	//   that they can't contribute to indentation, so once you've seen a tab in a
+	//   line, you can't start a simple key
+	bool Scanner::IsWhitespaceToBeEaten(char ch)
+	{
+		if(ch == ' ')
+			return true;
+
+		if(ch == '\t')
+			return true;
+
+		return false;
+	}
+
+	// StartStream
+	// . Set the initial conditions for starting a stream.
+	void Scanner::StartStream()
+	{
+		m_startedStream = true;
+		m_simpleKeyAllowed = true;
+		m_indents.push(IndentMarker(-1, IndentMarker::NONE));
+		m_anchors.clear();
+	}
+
+	// EndStream
+	// . Close out the stream, finish up, etc.
+	void Scanner::EndStream()
+	{
+		// force newline
+		if(INPUT.column() > 0)
+			INPUT.ResetColumn();
+
+		PopAllIndents();
+		PopAllSimpleKeys();
+
+		m_simpleKeyAllowed = false;
+		m_endedStream = true;
+	}
+
+	// PushIndentTo
+	// . Pushes an indentation onto the stack, and enqueues the
+	//   proper token (sequence start or mapping start).
+	// . Returns the indent marker it generates (if any).
+	Scanner::IndentMarker *Scanner::PushIndentTo(int column, IndentMarker::INDENT_TYPE type)
+	{
+		// are we in flow?
+		if(InFlowContext())
+			return 0;
+		
+		IndentMarker indent(column, type);
+		const IndentMarker& lastIndent = m_indents.top();
+
+		// is this actually an indentation?
+		if(indent.column < lastIndent.column)
+			return 0;
+		if(indent.column == lastIndent.column && !(indent.type == IndentMarker::SEQ && lastIndent.type == IndentMarker::MAP))
+			return 0;
+
+		// push a start token
+		if(type == IndentMarker::SEQ)
+			m_tokens.push(Token(Token::BLOCK_SEQ_START, INPUT.mark()));
+		else if(type == IndentMarker::MAP)
+			m_tokens.push(Token(Token::BLOCK_MAP_START, INPUT.mark()));
+		else
+			assert(false);
+		indent.pStartToken = &m_tokens.back();
+
+		// and then the indent
+		m_indents.push(indent);
+		return &m_indents.top();
+	}
+
+	// PopIndentToHere
+	// . Pops indentations off the stack until we reach the current indentation level,
+	//   and enqueues the proper token each time.
+	void Scanner::PopIndentToHere()
+	{
+		// are we in flow?
+		if(InFlowContext())
+			return;
+
+		// now pop away
+		while(!m_indents.empty()) {
+			const IndentMarker& indent = m_indents.top();
+			if(indent.column < INPUT.column())
+				break;
+			if(indent.column == INPUT.column() && !(indent.type == IndentMarker::SEQ && !Exp::BlockEntry.Matches(INPUT)))
+				break;
+				
+			PopIndent();
+		}
+	}
+	
+	// PopAllIndents
+	// . Pops all indentations (except for the base empty one) off the stack,
+	//   and enqueues the proper token each time.
+	void Scanner::PopAllIndents()
+	{
+		// are we in flow?
+		if(InFlowContext())
+			return;
+
+		// now pop away
+		while(!m_indents.empty()) {
+			const IndentMarker& indent = m_indents.top();
+			if(indent.type == IndentMarker::NONE)
+				break;
+			
+			PopIndent();
+		}
+	}
+	
+	// PopIndent
+	// . Pops a single indent, pushing the proper token
+	void Scanner::PopIndent()
+	{
+		IndentMarker indent = m_indents.top();
+		IndentMarker::INDENT_TYPE type = indent.type;
+		m_indents.pop();
+		if(!indent.isValid) {
+			InvalidateSimpleKey();
+			return;
+		}
+		
+		if(type == IndentMarker::SEQ)
+			m_tokens.push(Token(Token::BLOCK_SEQ_END, INPUT.mark()));
+		else if(type == IndentMarker::MAP)
+			m_tokens.push(Token(Token::BLOCK_MAP_END, INPUT.mark()));
+	}
+
+	// GetTopIndent
+	int Scanner::GetTopIndent() const
+	{
+		if(m_indents.empty())
+			return 0;
+		return m_indents.top().column;
+	}
+
+	// Save
+	// . Saves a pointer to the Node object referenced by a particular anchor
+	//   name.
+	void Scanner::Save(const std::string& anchor, Node* value)
+	{
+		m_anchors[anchor] = value;
+	}
+
+	// Retrieve
+	// . Retrieves a pointer previously saved for an anchor name.
+	// . Throws an exception if the anchor has not been defined.
+	const Node *Scanner::Retrieve(const std::string& anchor) const
+	{
+		typedef std::map<std::string, const Node *> map;
+
+		map::const_iterator itNode = m_anchors.find(anchor);
+
+		if(m_anchors.end() == itNode)
+			ThrowParserException(ErrorMsg::UNKNOWN_ANCHOR);
+
+		return itNode->second;
+	}
+
+	// ThrowParserException
+	// . Throws a ParserException with the current token location
+	//   (if available).
+	// . Does not parse any more tokens.
+	void Scanner::ThrowParserException(const std::string& msg) const
+	{
+		Mark mark = Mark::null();
+		if(!m_tokens.empty()) {
+			const Token& token = m_tokens.front();
+			mark = token.mark;
+		}
+		throw ParserException(mark, msg);
+	}
+
+	void Scanner::ClearAnchors()
+	{
+		m_anchors.clear();
+	}
+}

tools/rosdep/yaml-cpp/src/scanner.h

@@ -0,0 +1,127 @@
+#pragma once
+
+#ifndef SCANNER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define SCANNER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <ios>
+#include <string>
+#include <queue>
+#include <stack>
+#include <set>
+#include <map>
+#include "stream.h"
+#include "token.h"
+
+namespace YAML
+{
+	class Node;
+
+	class Scanner
+	{
+	public:
+		Scanner(std::istream& in);
+		~Scanner();
+
+		// token queue management (hopefully this looks kinda stl-ish)
+		bool empty();
+		void pop();
+		Token& peek();
+
+		// anchor management
+		void Save(const std::string& anchor, Node* value);
+		const Node *Retrieve(const std::string& anchor) const;
+		void ClearAnchors();
+
+	private:
+		struct IndentMarker {
+			enum INDENT_TYPE { MAP, SEQ, NONE };
+			IndentMarker(int column_, INDENT_TYPE type_): column(column_), type(type_), isValid(true), pStartToken(0) {}
+		
+			int column;
+			INDENT_TYPE type;
+			bool isValid;
+			Token *pStartToken;
+		};
+		
+		enum FLOW_MARKER { FLOW_MAP, FLOW_SEQ };
+	
+	private:	
+		// scanning
+		void EnsureTokensInQueue();
+		void ScanNextToken();
+		void ScanToNextToken();
+		void StartStream();
+		void EndStream();
+		
+		bool InFlowContext() const { return !m_flows.empty(); }
+		bool InBlockContext() const { return m_flows.empty(); }
+		int GetFlowLevel() const { return m_flows.size(); }
+		
+		IndentMarker *PushIndentTo(int column, IndentMarker::INDENT_TYPE type);
+		void PopIndentToHere();
+		void PopAllIndents();
+		void PopIndent();
+		int GetTopIndent() const;
+
+		// checking input
+		bool CanInsertPotentialSimpleKey() const;
+		bool ExistsActiveSimpleKey() const;
+		void InsertPotentialSimpleKey();
+		void InvalidateSimpleKey();
+		bool VerifySimpleKey();
+		void PopAllSimpleKeys();
+		
+		void ThrowParserException(const std::string& msg) const;
+
+		bool IsWhitespaceToBeEaten(char ch);
+
+		struct SimpleKey {
+			SimpleKey(const Mark& mark_, int flowLevel_);
+
+			void Validate();
+			void Invalidate();
+			
+			Mark mark;
+			int flowLevel;
+			IndentMarker *pIndent;
+			Token *pMapStart, *pKey;
+		};
+
+		// and the tokens
+		void ScanDirective();
+		void ScanDocStart();
+		void ScanDocEnd();
+		void ScanBlockSeqStart();
+		void ScanBlockMapSTart();
+		void ScanBlockEnd();
+		void ScanBlockEntry();
+		void ScanFlowStart();
+		void ScanFlowEnd();
+		void ScanFlowEntry();
+		void ScanKey();
+		void ScanValue();
+		void ScanAnchorOrAlias();
+		void ScanTag();
+		void ScanPlainScalar();
+		void ScanQuotedScalar();
+		void ScanBlockScalar();
+
+	private:
+		// the stream
+		Stream INPUT;
+
+		// the output (tokens)
+		std::queue <Token> m_tokens;
+
+		// state info
+		bool m_startedStream, m_endedStream;
+		bool m_simpleKeyAllowed;
+		std::stack <SimpleKey> m_simpleKeys;
+		std::stack <IndentMarker> m_indents;
+		std::stack <FLOW_MARKER> m_flows;
+		std::map <std::string, const Node *> m_anchors;
+	};
+}
+
+#endif // SCANNER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/scanscalar.cpp

@@ -0,0 +1,187 @@
+#include "crt.h"
+#include "scanscalar.h"
+#include "scanner.h"
+#include "exp.h"
+#include "exceptions.h"
+#include "token.h"
+
+namespace YAML
+{
+	// ScanScalar
+	// . This is where the scalar magic happens.
+	//
+	// . We do the scanning in three phases:
+	//   1. Scan until newline
+	//   2. Eat newline
+	//   3. Scan leading blanks.
+	//
+	// . Depending on the parameters given, we store or stop
+	//   and different places in the above flow.
+	std::string ScanScalar(Stream& INPUT, ScanScalarParams& params)
+	{
+		bool foundNonEmptyLine = false;
+		bool pastOpeningBreak = (params.fold == FOLD_FLOW);
+		bool emptyLine = false, moreIndented = false;
+		int foldedNewlineCount = 0;
+		bool foldedNewlineStartedMoreIndented = false;
+		std::string scalar;
+		params.leadingSpaces = false;
+
+		while(INPUT) {
+			// ********************************
+			// Phase #1: scan until line ending
+			
+			std::size_t lastNonWhitespaceChar = scalar.size();
+			while(!params.end.Matches(INPUT) && !Exp::Break.Matches(INPUT)) {
+				if(!INPUT)
+					break;
+
+				// document indicator?
+				if(INPUT.column() == 0 && Exp::DocIndicator.Matches(INPUT)) {
+					if(params.onDocIndicator == BREAK)
+						break;
+					else if(params.onDocIndicator == THROW)
+						throw ParserException(INPUT.mark(), ErrorMsg::DOC_IN_SCALAR);
+				}
+
+				foundNonEmptyLine = true;
+				pastOpeningBreak = true;
+
+				// escaped newline? (only if we're escaping on slash)
+				if(params.escape == '\\' && Exp::EscBreak.Matches(INPUT)) {
+					int n = Exp::EscBreak.Match(INPUT);
+					INPUT.eat(n);
+					lastNonWhitespaceChar = scalar.size();
+					continue;
+				}
+
+				// escape this?
+				if(INPUT.peek() == params.escape) {
+					scalar += Exp::Escape(INPUT);
+					lastNonWhitespaceChar = scalar.size();
+					continue;
+				}
+
+				// otherwise, just add the damn character
+				char ch = INPUT.get();
+				scalar += ch;
+				if(ch != ' ' && ch != '\t')
+					lastNonWhitespaceChar = scalar.size();
+			}
+
+			// eof? if we're looking to eat something, then we throw
+			if(!INPUT) {
+				if(params.eatEnd)
+					throw ParserException(INPUT.mark(), ErrorMsg::EOF_IN_SCALAR);
+				break;
+			}
+
+			// doc indicator?
+			if(params.onDocIndicator == BREAK && INPUT.column() == 0 && Exp::DocIndicator.Matches(INPUT))
+				break;
+
+			// are we done via character match?
+			int n = params.end.Match(INPUT);
+			if(n >= 0) {
+				if(params.eatEnd)
+					INPUT.eat(n);
+				break;
+			}
+			
+			// do we remove trailing whitespace?
+			if(params.fold == FOLD_FLOW)
+				scalar.erase(lastNonWhitespaceChar);
+			
+			// ********************************
+			// Phase #2: eat line ending
+			n = Exp::Break.Match(INPUT);
+			INPUT.eat(n);
+
+			// ********************************
+			// Phase #3: scan initial spaces
+
+			// first the required indentation
+			while(INPUT.peek() == ' ' && (INPUT.column() < params.indent || (params.detectIndent && !foundNonEmptyLine)))
+				INPUT.eat(1);
+
+			// update indent if we're auto-detecting
+			if(params.detectIndent && !foundNonEmptyLine)
+				params.indent = std::max(params.indent, INPUT.column());
+
+			// and then the rest of the whitespace
+			while(Exp::Blank.Matches(INPUT)) {
+				// we check for tabs that masquerade as indentation
+				if(INPUT.peek() == '\t'&& INPUT.column() < params.indent && params.onTabInIndentation == THROW)
+					throw ParserException(INPUT.mark(), ErrorMsg::TAB_IN_INDENTATION);
+
+				if(!params.eatLeadingWhitespace)
+					break;
+
+				INPUT.eat(1);
+			}
+
+			// was this an empty line?
+			bool nextEmptyLine = Exp::Break.Matches(INPUT);
+			bool nextMoreIndented = Exp::Blank.Matches(INPUT);
+			if(params.fold == FOLD_BLOCK && foldedNewlineCount == 0 && nextEmptyLine)
+				foldedNewlineStartedMoreIndented = moreIndented;
+
+			// for block scalars, we always start with a newline, so we should ignore it (not fold or keep)
+			if(pastOpeningBreak) {
+				switch(params.fold) {
+					case DONT_FOLD:
+						scalar += "\n";
+						break;
+					case FOLD_BLOCK:
+						if(!emptyLine && !nextEmptyLine && !moreIndented && !nextMoreIndented && INPUT.column() >= params.indent)
+							scalar += " ";
+						else if(nextEmptyLine)
+							foldedNewlineCount++;
+						else
+							scalar += "\n";
+						
+						if(!nextEmptyLine && foldedNewlineCount > 0) {
+							scalar += std::string(foldedNewlineCount - 1, '\n');
+							if(foldedNewlineStartedMoreIndented || nextMoreIndented)
+								scalar += "\n";
+							foldedNewlineCount = 0;
+						}
+						break;
+					case FOLD_FLOW:
+						if(nextEmptyLine)
+							scalar += "\n";
+						else if(!emptyLine && !nextEmptyLine)
+							scalar += " ";
+						break;
+				}
+			}
+
+			emptyLine = nextEmptyLine;
+			moreIndented = nextMoreIndented;
+			pastOpeningBreak = true;
+
+			// are we done via indentation?
+			if(!emptyLine && INPUT.column() < params.indent) {
+				params.leadingSpaces = true;
+				break;
+			}
+		}
+
+		// post-processing
+		if(params.trimTrailingSpaces) {
+			std::size_t pos = scalar.find_last_not_of(' ');
+			if(pos < scalar.size())
+				scalar.erase(pos + 1);
+		}
+
+		if(params.chomp == STRIP || params.chomp == CLIP) {
+			std::size_t pos = scalar.find_last_not_of('\n');
+			if(params.chomp == CLIP && pos + 1 < scalar.size())
+				scalar.erase(pos + 2);
+			else if(params.chomp == STRIP && pos < scalar.size())
+				scalar.erase(pos + 1);
+		}
+
+		return scalar;
+	}
+}

tools/rosdep/yaml-cpp/src/scanscalar.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#ifndef SCANSCALAR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define SCANSCALAR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <string>
+#include "regex.h"
+#include "stream.h"
+
+namespace YAML
+{
+	enum CHOMP { STRIP = -1, CLIP, KEEP };
+	enum ACTION { NONE, BREAK, THROW };
+	enum FOLD { DONT_FOLD, FOLD_BLOCK, FOLD_FLOW };
+
+	struct ScanScalarParams {
+		ScanScalarParams(): eatEnd(false), indent(0), detectIndent(false), eatLeadingWhitespace(0), escape(0), fold(DONT_FOLD),
+			trimTrailingSpaces(0), chomp(CLIP), onDocIndicator(NONE), onTabInIndentation(NONE), leadingSpaces(false) {}
+
+		// input:
+		RegEx end;                      // what condition ends this scalar?
+		bool eatEnd;                    // should we eat that condition when we see it?
+		int indent;                     // what level of indentation should be eaten and ignored?
+		bool detectIndent;              // should we try to autodetect the indent?
+		bool eatLeadingWhitespace;      // should we continue eating this delicious indentation after 'indent' spaces?
+		char escape;                    // what character do we escape on (i.e., slash or single quote) (0 for none)
+		FOLD fold;                      // how do we fold line ends?
+		bool trimTrailingSpaces;        // do we remove all trailing spaces (at the very end)
+		CHOMP chomp;                    // do we strip, clip, or keep trailing newlines (at the very end)
+		                                //   Note: strip means kill all, clip means keep at most one, keep means keep all
+		ACTION onDocIndicator;          // what do we do if we see a document indicator?
+		ACTION onTabInIndentation;      // what do we do if we see a tab where we should be seeing indentation spaces
+
+		// output:
+		bool leadingSpaces;
+	};
+
+	std::string ScanScalar(Stream& INPUT, ScanScalarParams& info);
+}
+
+#endif // SCANSCALAR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/scantoken.cpp

@@ -0,0 +1,418 @@
+#include "crt.h"
+#include "scanner.h"
+#include "token.h"
+#include "exceptions.h"
+#include "exp.h"
+#include "scanscalar.h"
+#include <sstream>
+
+namespace YAML
+{
+	///////////////////////////////////////////////////////////////////////
+	// Specialization for scanning specific tokens
+
+	// Directive
+	// . Note: no semantic checking is done here (that's for the parser to do)
+	void Scanner::ScanDirective()
+	{
+		std::string name;
+		std::vector <std::string> params;
+
+		// pop indents and simple keys
+		PopAllIndents();
+		PopAllSimpleKeys();
+
+		m_simpleKeyAllowed = false;
+
+		// store pos and eat indicator
+		Mark mark = INPUT.mark();
+		INPUT.eat(1);
+
+		// read name
+		while(INPUT && !Exp::BlankOrBreak.Matches(INPUT))
+			name += INPUT.get();
+
+		// read parameters
+		while(1) {
+			// first get rid of whitespace
+			while(Exp::Blank.Matches(INPUT))
+				INPUT.eat(1);
+
+			// break on newline or comment
+			if(!INPUT || Exp::Break.Matches(INPUT) || Exp::Comment.Matches(INPUT))
+				break;
+
+			// now read parameter
+			std::string param;
+			while(INPUT && !Exp::BlankOrBreak.Matches(INPUT))
+				param += INPUT.get();
+
+			params.push_back(param);
+		}
+		
+		Token token(Token::DIRECTIVE, mark);
+		token.value = name;
+		token.params = params;
+		m_tokens.push(token);
+	}
+
+	// DocStart
+	void Scanner::ScanDocStart()
+	{
+		PopAllIndents();
+		PopAllSimpleKeys();
+		m_simpleKeyAllowed = false;
+
+		// eat
+		Mark mark = INPUT.mark();
+		INPUT.eat(3);
+		m_tokens.push(Token(Token::DOC_START, mark));
+	}
+
+	// DocEnd
+	void Scanner::ScanDocEnd()
+	{
+		PopAllIndents();
+		PopAllSimpleKeys();
+		m_simpleKeyAllowed = false;
+
+		// eat
+		Mark mark = INPUT.mark();
+		INPUT.eat(3);
+		m_tokens.push(Token(Token::DOC_END, mark));
+	}
+
+	// FlowStart
+	void Scanner::ScanFlowStart()
+	{
+		// flows can be simple keys
+		InsertPotentialSimpleKey();
+		m_simpleKeyAllowed = true;
+
+		// eat
+		Mark mark = INPUT.mark();
+		char ch = INPUT.get();
+		FLOW_MARKER flowType = (ch == Keys::FlowSeqStart ? FLOW_SEQ : FLOW_MAP);
+		m_flows.push(flowType);
+		Token::TYPE type = (flowType == FLOW_SEQ ? Token::FLOW_SEQ_START : Token::FLOW_MAP_START);
+		m_tokens.push(Token(type, mark));
+	}
+
+	// FlowEnd
+	void Scanner::ScanFlowEnd()
+	{
+		if(InBlockContext())
+			throw ParserException(INPUT.mark(), ErrorMsg::FLOW_END);
+
+		// we might have a solo entry in the flow context
+		if(VerifySimpleKey())
+			m_tokens.push(Token(Token::VALUE, INPUT.mark()));
+
+		m_simpleKeyAllowed = false;
+
+		// eat
+		Mark mark = INPUT.mark();
+		char ch = INPUT.get();
+
+		// check that it matches the start
+		FLOW_MARKER flowType = (ch == Keys::FlowSeqEnd ? FLOW_SEQ : FLOW_MAP);
+		if(m_flows.top() != flowType)
+			throw ParserException(mark, ErrorMsg::FLOW_END);
+		m_flows.pop();
+		
+		Token::TYPE type = (flowType ? Token::FLOW_SEQ_END : Token::FLOW_MAP_END);
+		m_tokens.push(Token(type, mark));
+	}
+
+	// FlowEntry
+	void Scanner::ScanFlowEntry()
+	{
+		 // we might have a solo entry in the flow context
+		if(VerifySimpleKey())
+			m_tokens.push(Token(Token::VALUE, INPUT.mark()));
+		
+		m_simpleKeyAllowed = true;
+
+		// eat
+		Mark mark = INPUT.mark();
+		INPUT.eat(1);
+		m_tokens.push(Token(Token::FLOW_ENTRY, mark));
+	}
+
+	// BlockEntry
+	void Scanner::ScanBlockEntry()
+	{
+		// we better be in the block context!
+		if(InFlowContext())
+			throw ParserException(INPUT.mark(), ErrorMsg::BLOCK_ENTRY);
+
+		// can we put it here?
+		if(!m_simpleKeyAllowed)
+			throw ParserException(INPUT.mark(), ErrorMsg::BLOCK_ENTRY);
+
+		PushIndentTo(INPUT.column(), IndentMarker::SEQ);
+		m_simpleKeyAllowed = true;
+
+		// eat
+		Mark mark = INPUT.mark();
+		INPUT.eat(1);
+		m_tokens.push(Token(Token::BLOCK_ENTRY, mark));
+	}
+
+	// Key
+	void Scanner::ScanKey()
+	{
+		// handle keys diffently in the block context (and manage indents)
+		if(InBlockContext()) {
+			if(!m_simpleKeyAllowed)
+				throw ParserException(INPUT.mark(), ErrorMsg::MAP_KEY);
+
+			PushIndentTo(INPUT.column(), IndentMarker::MAP);
+		}
+
+		// can only put a simple key here if we're in block context
+		m_simpleKeyAllowed = InBlockContext();
+
+		// eat
+		Mark mark = INPUT.mark();
+		INPUT.eat(1);
+		m_tokens.push(Token(Token::KEY, mark));
+	}
+
+	// Value
+	void Scanner::ScanValue()
+	{
+		// and check that simple key
+		bool isSimpleKey = VerifySimpleKey();
+		
+		if(isSimpleKey) {
+			// can't follow a simple key with another simple key (dunno why, though - it seems fine)
+			m_simpleKeyAllowed = false;
+		} else {
+			// handle values diffently in the block context (and manage indents)
+			if(InBlockContext()) {
+				if(!m_simpleKeyAllowed)
+					throw ParserException(INPUT.mark(), ErrorMsg::MAP_VALUE);
+
+				PushIndentTo(INPUT.column(), IndentMarker::MAP);
+			}
+
+			// can only put a simple key here if we're in block context
+			m_simpleKeyAllowed = InBlockContext();
+		}
+
+		// eat
+		Mark mark = INPUT.mark();
+		INPUT.eat(1);
+		m_tokens.push(Token(Token::VALUE, mark));
+	}
+
+	// AnchorOrAlias
+	void Scanner::ScanAnchorOrAlias()
+	{
+		bool alias;
+		std::string name;
+
+		// insert a potential simple key
+		InsertPotentialSimpleKey();
+		m_simpleKeyAllowed = false;
+
+		// eat the indicator
+		Mark mark = INPUT.mark();
+		char indicator = INPUT.get();
+		alias = (indicator == Keys::Alias);
+
+		// now eat the content
+		while(Exp::AlphaNumeric.Matches(INPUT))
+			name += INPUT.get();
+
+		// we need to have read SOMETHING!
+		if(name.empty())
+			throw ParserException(INPUT.mark(), alias ? ErrorMsg::ALIAS_NOT_FOUND : ErrorMsg::ANCHOR_NOT_FOUND);
+
+		// and needs to end correctly
+		if(INPUT && !Exp::AnchorEnd.Matches(INPUT))
+			throw ParserException(INPUT.mark(), alias ? ErrorMsg::CHAR_IN_ALIAS : ErrorMsg::CHAR_IN_ANCHOR);
+
+		// and we're done
+		Token token(alias ? Token::ALIAS : Token::ANCHOR, mark);
+		token.value = name;
+		m_tokens.push(token);
+	}
+
+	// Tag
+	void Scanner::ScanTag()
+	{
+		std::string handle, suffix;
+
+		// insert a potential simple key
+		InsertPotentialSimpleKey();
+		m_simpleKeyAllowed = false;
+
+		// eat the indicator
+		Mark mark = INPUT.mark();
+		handle += INPUT.get();
+
+		// read the handle
+		while(INPUT && INPUT.peek() != Keys::Tag && !Exp::BlankOrBreak.Matches(INPUT))
+			handle += INPUT.get();
+
+		// is there a suffix?
+		if(INPUT.peek() == Keys::Tag) {
+			// eat the indicator
+			handle += INPUT.get();
+
+			// then read it
+			while(INPUT && !Exp::BlankOrBreak.Matches(INPUT))
+				suffix += INPUT.get();
+		} else {
+			// this is a bit weird: we keep just the '!' as the handle and move the rest to the suffix
+			suffix = handle.substr(1);
+			handle = "!";
+		}
+
+		Token token(Token::TAG, mark);
+		token.value = handle;
+		token.params.push_back(suffix);
+		m_tokens.push(token);
+	}
+
+	// PlainScalar
+	void Scanner::ScanPlainScalar()
+	{
+		std::string scalar;
+
+		// set up the scanning parameters
+		ScanScalarParams params;
+		params.end = (InFlowContext() ? Exp::EndScalarInFlow : Exp::EndScalar) || (Exp::BlankOrBreak + Exp::Comment);
+		params.eatEnd = false;
+		params.indent = (InFlowContext() ? 0 : GetTopIndent() + 1);
+		params.fold = FOLD_FLOW;
+		params.eatLeadingWhitespace = true;
+		params.trimTrailingSpaces = true;
+		params.chomp = STRIP;
+		params.onDocIndicator = BREAK;
+		params.onTabInIndentation = THROW;
+
+		// insert a potential simple key
+		InsertPotentialSimpleKey();
+
+		Mark mark = INPUT.mark();
+		scalar = ScanScalar(INPUT, params);
+
+		// can have a simple key only if we ended the scalar by starting a new line
+		m_simpleKeyAllowed = params.leadingSpaces;
+
+		// finally, check and see if we ended on an illegal character
+		//if(Exp::IllegalCharInScalar.Matches(INPUT))
+		//	throw ParserException(INPUT.mark(), ErrorMsg::CHAR_IN_SCALAR);
+
+		Token token(Token::SCALAR, mark);
+		token.value = scalar;
+		m_tokens.push(token);
+	}
+
+	// QuotedScalar
+	void Scanner::ScanQuotedScalar()
+	{
+		std::string scalar;
+
+		// peek at single or double quote (don't eat because we need to preserve (for the time being) the input position)
+		char quote = INPUT.peek();
+		bool single = (quote == '\'');
+
+		// setup the scanning parameters
+		ScanScalarParams params;
+		params.end = (single ? RegEx(quote) && !Exp::EscSingleQuote : RegEx(quote));
+		params.eatEnd = true;
+		params.escape = (single ? '\'' : '\\');
+		params.indent = 0;
+		params.fold = FOLD_FLOW;
+		params.eatLeadingWhitespace = true;
+		params.trimTrailingSpaces = false;
+		params.chomp = CLIP;
+		params.onDocIndicator = THROW;
+
+		// insert a potential simple key
+		InsertPotentialSimpleKey();
+
+		Mark mark = INPUT.mark();
+
+		// now eat that opening quote
+		INPUT.get();
+		
+		// and scan
+		scalar = ScanScalar(INPUT, params);
+		m_simpleKeyAllowed = false;
+
+		Token token(Token::SCALAR, mark);
+		token.value = scalar;
+		m_tokens.push(token);
+	}
+
+	// BlockScalarToken
+	// . These need a little extra processing beforehand.
+	// . We need to scan the line where the indicator is (this doesn't count as part of the scalar),
+	//   and then we need to figure out what level of indentation we'll be using.
+	void Scanner::ScanBlockScalar()
+	{
+		std::string scalar;
+
+		ScanScalarParams params;
+		params.indent = 1;
+		params.detectIndent = true;
+
+		// eat block indicator ('|' or '>')
+		Mark mark = INPUT.mark();
+		char indicator = INPUT.get();
+		params.fold = (indicator == Keys::FoldedScalar ? FOLD_BLOCK : DONT_FOLD);
+
+		// eat chomping/indentation indicators
+		params.chomp = CLIP;
+		int n = Exp::Chomp.Match(INPUT);
+		for(int i=0;i<n;i++) {
+			char ch = INPUT.get();
+			if(ch == '+')
+				params.chomp = KEEP;
+			else if(ch == '-')
+				params.chomp = STRIP;
+			else if(Exp::Digit.Matches(ch)) {
+				if(ch == '0')
+					throw ParserException(INPUT.mark(), ErrorMsg::ZERO_INDENT_IN_BLOCK);
+
+				params.indent = ch - '0';
+				params.detectIndent = false;
+			}
+		}
+
+		// now eat whitespace
+		while(Exp::Blank.Matches(INPUT))
+			INPUT.eat(1);
+
+		// and comments to the end of the line
+		if(Exp::Comment.Matches(INPUT))
+			while(INPUT && !Exp::Break.Matches(INPUT))
+				INPUT.eat(1);
+
+		// if it's not a line break, then we ran into a bad character inline
+		if(INPUT && !Exp::Break.Matches(INPUT))
+			throw ParserException(INPUT.mark(), ErrorMsg::CHAR_IN_BLOCK);
+
+		// set the initial indentation
+		if(GetTopIndent() >= 0)
+			params.indent += GetTopIndent();
+
+		params.eatLeadingWhitespace = false;
+		params.trimTrailingSpaces = false;
+		params.onTabInIndentation = THROW;
+
+		scalar = ScanScalar(INPUT, params);
+
+		// simple keys always ok after block scalars (since we're gonna start a new line anyways)
+		m_simpleKeyAllowed = true;
+
+		Token token(Token::SCALAR, mark);
+		token.value = scalar;
+		m_tokens.push(token);
+	}
+}

tools/rosdep/yaml-cpp/src/sequence.cpp

@@ -0,0 +1,164 @@
+#include "crt.h"
+#include "sequence.h"
+#include "node.h"
+#include "scanner.h"
+#include "token.h"
+#include "emitter.h"
+#include <stdexcept>
+
+namespace YAML
+{
+	Sequence::Sequence()
+	{
+
+	}
+
+	Sequence::Sequence(const std::vector<Node *>& data)
+	{
+		for(std::size_t i=0;i<data.size();i++)
+			m_data.push_back(data[i]->Clone().release());
+	}
+
+	Sequence::~Sequence()
+	{
+		Clear();
+	}
+
+	void Sequence::Clear()
+	{
+		for(std::size_t i=0;i<m_data.size();i++)
+			delete m_data[i];
+		m_data.clear();
+	}
+
+	Content *Sequence::Clone() const
+	{
+		return new Sequence(m_data);
+	}
+
+	bool Sequence::GetBegin(std::vector <Node *>::const_iterator& it) const
+	{
+		it = m_data.begin();
+		return true;
+	}
+
+	bool Sequence::GetEnd(std::vector <Node *>::const_iterator& it) const
+	{
+		it = m_data.end();
+		return true;
+	}
+
+	Node *Sequence::GetNode(std::size_t i) const
+	{
+		if(i < m_data.size())
+			return m_data[i];
+		return 0;
+	}
+
+	std::size_t Sequence::GetSize() const
+	{
+		return m_data.size();
+	}
+
+	void Sequence::Parse(Scanner *pScanner, const ParserState& state)
+	{
+		Clear();
+
+		// split based on start token
+		switch(pScanner->peek().type) {
+			case Token::BLOCK_SEQ_START: ParseBlock(pScanner, state); break;
+			case Token::FLOW_SEQ_START: ParseFlow(pScanner, state); break;
+			default: break;
+		}
+	}
+
+	void Sequence::ParseBlock(Scanner *pScanner, const ParserState& state)
+	{
+		// eat start token
+		pScanner->pop();
+
+		while(1) {
+			if(pScanner->empty())
+				throw ParserException(Mark::null(), ErrorMsg::END_OF_SEQ);
+
+			Token token = pScanner->peek();
+			if(token.type != Token::BLOCK_ENTRY && token.type != Token::BLOCK_SEQ_END)
+				throw ParserException(token.mark, ErrorMsg::END_OF_SEQ);
+
+			pScanner->pop();
+			if(token.type == Token::BLOCK_SEQ_END)
+				break;
+
+			Node *pNode = new Node;
+			m_data.push_back(pNode);
+			
+			// check for null
+			if(!pScanner->empty()) {
+				const Token& token = pScanner->peek();
+				if(token.type == Token::BLOCK_ENTRY || token.type == Token::BLOCK_SEQ_END)
+					continue;
+			}
+			
+			pNode->Parse(pScanner, state);
+		}
+	}
+
+	void Sequence::ParseFlow(Scanner *pScanner, const ParserState& state)
+	{
+		// eat start token
+		pScanner->pop();
+
+		while(1) {
+			if(pScanner->empty())
+				throw ParserException(Mark::null(), ErrorMsg::END_OF_SEQ_FLOW);
+
+			// first check for end
+			if(pScanner->peek().type == Token::FLOW_SEQ_END) {
+				pScanner->pop();
+				break;
+			}
+
+			// then read the node
+			Node *pNode = new Node;
+			m_data.push_back(pNode);
+			pNode->Parse(pScanner, state);
+
+			// now eat the separator (or could be a sequence end, which we ignore - but if it's neither, then it's a bad node)
+			Token& token = pScanner->peek();
+			if(token.type == Token::FLOW_ENTRY)
+				pScanner->pop();
+			else if(token.type != Token::FLOW_SEQ_END)
+				throw ParserException(token.mark, ErrorMsg::END_OF_SEQ_FLOW);
+		}
+	}
+
+	void Sequence::Write(Emitter& out) const
+	{
+		out << BeginSeq;
+		for(std::size_t i=0;i<m_data.size();i++)
+			out << *m_data[i];
+		out << EndSeq;
+	}
+
+	int Sequence::Compare(Content *pContent)
+	{
+		return -pContent->Compare(this);
+	}
+
+	int Sequence::Compare(Sequence *pSeq)
+	{
+		std::size_t n = m_data.size(), m = pSeq->m_data.size();
+		if(n < m)
+			return -1;
+		else if(n > m)
+			return 1;
+
+		for(std::size_t i=0;i<n;i++) {
+			int cmp = m_data[i]->Compare(*pSeq->m_data[i]);
+			if(cmp != 0)
+				return cmp;
+		}
+
+		return 0;
+	}
+}

tools/rosdep/yaml-cpp/src/sequence.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#ifndef SEQUENCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define SEQUENCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "content.h"
+#include <vector>
+
+namespace YAML
+{
+	class Node;
+
+	class Sequence: public Content
+	{
+	public:
+		Sequence();
+		Sequence(const std::vector<Node *>& data);
+		virtual ~Sequence();
+
+		void Clear();
+		virtual Content *Clone() const;
+
+		virtual bool GetBegin(std::vector <Node *>::const_iterator& it) const;
+		virtual bool GetEnd(std::vector <Node *>::const_iterator& it) const;
+		virtual Node *GetNode(std::size_t i) const;
+		virtual std::size_t GetSize() const;
+
+		virtual void Parse(Scanner *pScanner, const ParserState& state);
+		virtual void Write(Emitter& out) const;
+
+		virtual bool IsSequence() const { return true; }
+
+		// ordering
+		virtual int Compare(Content *pContent);
+		virtual int Compare(Scalar *) { return 1; }
+		virtual int Compare(Sequence *pSeq);
+		virtual int Compare(Map *) { return -1; }
+
+	private:
+		void ParseBlock(Scanner *pScanner, const ParserState& state);
+		void ParseFlow(Scanner *pScanner, const ParserState& state);
+
+	protected:
+		std::vector <Node *> m_data;
+	};
+}
+
+#endif // SEQUENCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/setting.h

@@ -0,0 +1,103 @@
+#pragma once
+
+#ifndef SETTING_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define SETTING_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <memory>
+#include <vector>
+#include "noncopyable.h"
+
+namespace YAML
+{
+	class SettingChangeBase;
+	
+	template <typename T>
+	class Setting
+	{
+	public:
+		Setting(): m_value() {}
+		
+		const T get() const { return m_value; }
+		std::auto_ptr <SettingChangeBase> set(const T& value);
+		void restore(const Setting<T>& oldSetting) {
+			m_value = oldSetting.get();
+		}
+		
+	private:
+		T m_value;
+	};
+
+	class SettingChangeBase
+	{
+	public:
+		virtual ~SettingChangeBase() {}
+		virtual void pop() = 0;
+	};
+	
+	template <typename T>
+	class SettingChange: public SettingChangeBase
+	{
+	public:
+		SettingChange(Setting<T> *pSetting): m_pCurSetting(pSetting) {
+			// copy old setting to save its state
+			m_oldSetting = *pSetting;
+		}
+		
+		virtual void pop() {
+			m_pCurSetting->restore(m_oldSetting);
+		}
+
+	private:
+		Setting<T> *m_pCurSetting;
+		Setting<T> m_oldSetting;
+	};
+
+	template <typename T>
+	inline std::auto_ptr <SettingChangeBase> Setting<T>::set(const T& value) {
+		std::auto_ptr <SettingChangeBase> pChange(new SettingChange<T> (this));
+		m_value = value;
+		return pChange;
+	}
+	
+	class SettingChanges: private noncopyable
+	{
+	public:
+		SettingChanges() {}
+		~SettingChanges() { clear(); }
+		
+		void clear() {
+			restore();
+			
+			for(setting_changes::const_iterator it=m_settingChanges.begin();it!=m_settingChanges.end();++it)
+				delete *it;
+			m_settingChanges.clear();
+		}
+		
+		void restore() {
+			for(setting_changes::const_iterator it=m_settingChanges.begin();it!=m_settingChanges.end();++it)
+				(*it)->pop();
+		}
+		
+		void push(std::auto_ptr <SettingChangeBase> pSettingChange) {
+			m_settingChanges.push_back(pSettingChange.release());
+		}
+		
+		// like std::auto_ptr - assignment is transfer of ownership
+		SettingChanges& operator = (SettingChanges& rhs) {
+			if(this == &rhs)
+				return *this;
+			
+			clear();
+			m_settingChanges = rhs.m_settingChanges;
+			rhs.m_settingChanges.clear();
+			return *this;
+		}
+		
+	private:
+		typedef std::vector <SettingChangeBase *> setting_changes;
+		setting_changes m_settingChanges;
+	};
+}
+
+#endif // SETTING_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/simplekey.cpp

@@ -0,0 +1,138 @@
+#include "crt.h"
+#include "scanner.h"
+#include "token.h"
+#include "exceptions.h"
+#include "exp.h"
+
+namespace YAML
+{
+	Scanner::SimpleKey::SimpleKey(const Mark& mark_, int flowLevel_)
+		: mark(mark_), flowLevel(flowLevel_), pIndent(0), pMapStart(0), pKey(0)
+	{
+	}
+
+	void Scanner::SimpleKey::Validate()
+	{
+		// Note: pIndent will *not* be garbage here; see below
+		if(pIndent)
+			pIndent->isValid = true;
+		if(pMapStart)
+			pMapStart->status = Token::VALID;
+		if(pKey)
+			pKey->status = Token::VALID;
+	}
+
+	void Scanner::SimpleKey::Invalidate()
+	{
+		// Note: pIndent might be a garbage pointer here, but that's ok
+		//       An indent will only be popped if the simple key is invalid
+		if(pMapStart)
+			pMapStart->status = Token::INVALID;
+		if(pKey)
+			pKey->status = Token::INVALID;
+	}
+	
+	// CanInsertPotentialSimpleKey
+	bool Scanner::CanInsertPotentialSimpleKey() const
+	{
+		if(!m_simpleKeyAllowed)
+			return false;
+		
+		if(InFlowContext() && m_flows.top() != FLOW_MAP)
+			return false;
+
+		return !ExistsActiveSimpleKey();
+	}
+
+	// ExistsActiveSimpleKey
+	// . Returns true if there's a potential simple key at our flow level
+	//   (there's allowed at most one per flow level, i.e., at the start of the flow start token)
+	bool Scanner::ExistsActiveSimpleKey() const
+	{
+		if(m_simpleKeys.empty())
+			return false;
+		
+		const SimpleKey& key = m_simpleKeys.top();
+		return key.flowLevel == GetFlowLevel();
+	}
+
+	// InsertPotentialSimpleKey
+	// . If we can, add a potential simple key to the queue,
+	//   and save it on a stack.
+	void Scanner::InsertPotentialSimpleKey()
+	{
+		if(!CanInsertPotentialSimpleKey())
+			return;
+		
+		SimpleKey key(INPUT.mark(), GetFlowLevel());
+
+		// first add a map start, if necessary
+		key.pIndent = PushIndentTo(INPUT.column(), IndentMarker::MAP);
+		if(key.pIndent) {
+			key.pIndent->isValid = false;
+			key.pMapStart = key.pIndent->pStartToken;
+			key.pMapStart->status = Token::UNVERIFIED;
+		}
+
+		// then add the (now unverified) key
+		m_tokens.push(Token(Token::KEY, INPUT.mark()));
+		key.pKey = &m_tokens.back();
+		key.pKey->status = Token::UNVERIFIED;
+
+		m_simpleKeys.push(key);
+	}
+
+	// InvalidateSimpleKey
+	// . Automatically invalidate the simple key in our flow level
+	void Scanner::InvalidateSimpleKey()
+	{
+		if(m_simpleKeys.empty())
+			return;
+		
+		// grab top key
+		SimpleKey& key = m_simpleKeys.top();
+		if(key.flowLevel != GetFlowLevel())
+			return;
+		
+		key.Invalidate();
+		m_simpleKeys.pop();
+	}
+
+	// VerifySimpleKey
+	// . Determines whether the latest simple key to be added is valid,
+	//   and if so, makes it valid.
+	bool Scanner::VerifySimpleKey()
+	{
+		if(m_simpleKeys.empty())
+			return false;
+
+		// grab top key
+		SimpleKey key = m_simpleKeys.top();
+
+		// only validate if we're in the correct flow level
+		if(key.flowLevel != GetFlowLevel())
+			return false;
+
+		m_simpleKeys.pop();
+
+		bool isValid = true;
+
+		// needs to be less than 1024 characters and inline
+		if(INPUT.line() != key.mark.line || INPUT.pos() - key.mark.pos > 1024)
+			isValid = false;
+
+		// invalidate key
+		if(isValid)
+			key.Validate();
+		else
+			key.Invalidate();
+
+		return isValid;
+	}
+
+	void Scanner::PopAllSimpleKeys()
+	{
+		while(!m_simpleKeys.empty())
+			m_simpleKeys.pop();
+	}
+}

tools/rosdep/yaml-cpp/src/stream.cpp

@@ -0,0 +1,455 @@
+#include "crt.h"
+#include "stream.h"
+#include <iostream>
+#include "exp.h"
+
+#ifndef YAML_PREFETCH_SIZE
+#define YAML_PREFETCH_SIZE 2048
+#endif
+
+#define S_ARRAY_SIZE( A ) (sizeof(A)/sizeof(*(A)))
+#define S_ARRAY_END( A ) ((A) + S_ARRAY_SIZE(A))
+
+#define CP_REPLACEMENT_CHARACTER (0xFFFD)
+
+namespace YAML
+{
+	enum UtfIntroState {
+		uis_start,
+		uis_utfbe_b1,
+		uis_utf32be_b2,
+		uis_utf32be_bom3,
+		uis_utf32be,
+		uis_utf16be,
+		uis_utf16be_bom1,
+		uis_utfle_bom1,
+		uis_utf16le_bom2,
+		uis_utf32le_bom3,
+		uis_utf16le,
+		uis_utf32le,
+		uis_utf8_imp,
+		uis_utf16le_imp,
+		uis_utf32le_imp3,
+		uis_utf8_bom1,
+		uis_utf8_bom2,
+		uis_utf8,
+		uis_error
+	};
+
+	enum UtfIntroCharType {
+		uict00,
+		uictBB,
+		uictBF,
+		uictEF,
+		uictFE,
+		uictFF,
+		uictAscii,
+		uictOther,
+		uictMax
+	};
+
+	static bool s_introFinalState[] = {
+		false, //uis_start
+		false, //uis_utfbe_b1
+		false, //uis_utf32be_b2
+		false, //uis_utf32be_bom3
+		true,  //uis_utf32be
+		true,  //uis_utf16be
+		false, //uis_utf16be_bom1
+		false, //uis_utfle_bom1
+		false, //uis_utf16le_bom2
+		false, //uis_utf32le_bom3
+		true,  //uis_utf16le
+		true,  //uis_utf32le
+		false, //uis_utf8_imp
+		false, //uis_utf16le_imp
+		false, //uis_utf32le_imp3
+		false, //uis_utf8_bom1
+		false, //uis_utf8_bom2
+		true,  //uis_utf8
+		true,  //uis_error
+	};
+
+	static UtfIntroState s_introTransitions[][uictMax] = {
+		// uict00,           uictBB,           uictBF,           uictEF,           uictFE,           uictFF,           uictAscii,        uictOther
+		  {uis_utfbe_b1,     uis_utf8,         uis_utf8,         uis_utf8_bom1,    uis_utf16be_bom1, uis_utfle_bom1,   uis_utf8_imp,     uis_utf8},
+		  {uis_utf32be_b2,   uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf16be,      uis_utf8},
+		  {uis_utf32be,      uis_utf8,         uis_utf8,         uis_utf8,         uis_utf32be_bom3, uis_utf8,         uis_utf8,         uis_utf8},
+		  {uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf32be,      uis_utf8,         uis_utf8},
+		  {uis_utf32be,      uis_utf32be,      uis_utf32be,      uis_utf32be,      uis_utf32be,      uis_utf32be,      uis_utf32be,      uis_utf32be},
+		  {uis_utf16be,      uis_utf16be,      uis_utf16be,      uis_utf16be,      uis_utf16be,      uis_utf16be,      uis_utf16be,      uis_utf16be},
+		  {uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf16be,      uis_utf8,         uis_utf8},
+		  {uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf16le_bom2, uis_utf8,         uis_utf8,         uis_utf8},
+		  {uis_utf32le_bom3, uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le},
+		  {uis_utf32le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le},
+		  {uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le},
+		  {uis_utf32le,      uis_utf32le,      uis_utf32le,      uis_utf32le,      uis_utf32le,      uis_utf32le,      uis_utf32le,      uis_utf32le},
+		  {uis_utf16le_imp,  uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8},
+		  {uis_utf32le_imp3, uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le},
+		  {uis_utf32le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le,      uis_utf16le},
+		  {uis_utf8,         uis_utf8_bom2,    uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8},
+		  {uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8},
+		  {uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8,         uis_utf8},
+	};
+
+	static char s_introUngetCount[][uictMax] = {
+		// uict00, uictBB, uictBF, uictEF, uictFE, uictFF, uictAscii, uictOther
+		  {0,      1,      1,      0,      0,      0,      0,         1},
+		  {0,      2,      2,      2,      2,      2,      2,         2},
+		  {3,      3,      3,      3,      0,      3,      3,         3},
+		  {4,      4,      4,      4,      4,      0,      4,         4},
+		  {1,      1,      1,      1,      1,      1,      1,         1},
+		  {1,      1,      1,      1,      1,      1,      1,         1},
+		  {2,      2,      2,      2,      2,      0,      2,         2},
+		  {2,      2,      2,      2,      0,      2,      2,         2},
+		  {0,      1,      1,      1,      1,      1,      1,         1},
+		  {0,      2,      2,      2,      2,      2,      2,         2},
+		  {1,      1,      1,      1,      1,      1,      1,         1},
+		  {1,      1,      1,      1,      1,      1,      1,         1},
+		  {0,      2,      2,      2,      2,      2,      2,         2},
+		  {0,      3,      3,      3,      3,      3,      3,         3},
+		  {4,      4,      4,      4,      4,      4,      4,         4},
+		  {2,      0,      2,      2,      2,      2,      2,         2},
+		  {3,      3,      0,      3,      3,      3,      3,         3},
+		  {1,      1,      1,      1,      1,      1,      1,         1},
+	};
+
+	inline UtfIntroCharType IntroCharTypeOf(std::istream::int_type ch)
+	{
+		if (std::istream::traits_type::eof() == ch) {
+			return uictOther;
+		}
+
+		switch (ch) {
+		case 0: return uict00;
+		case 0xBB: return uictBB;
+		case 0xBF: return uictBF;
+		case 0xEF: return uictEF;
+		case 0xFE: return uictFE;
+		case 0xFF: return uictFF;
+		}
+
+		if ((ch > 0) && (ch < 0xFF)) {
+			return uictAscii;
+		}
+
+		return uictOther;
+	}
+
+	inline char Utf8Adjust(unsigned long ch, unsigned char lead_bits, unsigned char rshift)
+	{
+		const unsigned char header = ((1 << lead_bits) - 1) << (8 - lead_bits);
+		const unsigned char mask = (0xFF >> (lead_bits + 1));
+		return static_cast<char>(static_cast<unsigned char>(
+			header | ((ch >> rshift) & mask)
+			));
+	}
+
+	inline void QueueUnicodeCodepoint(std::deque<char>& q, unsigned long ch)
+	{
+		// We are not allowed to queue the Stream::eof() codepoint, so
+		// replace it with CP_REPLACEMENT_CHARACTER
+		if (static_cast<unsigned long>(Stream::eof()) == ch)
+		{
+			ch = CP_REPLACEMENT_CHARACTER;
+		}
+
+		if (ch < 0x80)
+		{
+			q.push_back(Utf8Adjust(ch, 0, 0));
+		}
+		else if (ch < 0x800)
+		{
+			q.push_back(Utf8Adjust(ch, 2, 6));
+			q.push_back(Utf8Adjust(ch, 1, 0));
+		}
+		else if (ch < 0x10000)
+		{
+			q.push_back(Utf8Adjust(ch, 3, 12));
+			q.push_back(Utf8Adjust(ch, 1, 6));
+			q.push_back(Utf8Adjust(ch, 1, 0));
+		}
+		else
+		{
+			q.push_back(Utf8Adjust(ch, 4, 18));
+			q.push_back(Utf8Adjust(ch, 1, 12));
+			q.push_back(Utf8Adjust(ch, 1, 6));
+			q.push_back(Utf8Adjust(ch, 1, 0));
+		}
+	}
+
+	Stream::Stream(std::istream& input)
+		: m_input(input), m_nPushedBack(0),
+		m_pPrefetched(new unsigned char[YAML_PREFETCH_SIZE]), 
+		m_nPrefetchedAvailable(0), m_nPrefetchedUsed(0)
+	{
+		typedef std::istream::traits_type char_traits;
+
+		if(!input)
+			return;
+
+		// Determine (or guess) the character-set by reading the BOM, if any.  See
+		// the YAML specification for the determination algorithm.
+		char_traits::int_type intro[4];
+		int nIntroUsed = 0;
+		UtfIntroState state = uis_start;
+		for (; !s_introFinalState[state]; ) {
+			std::istream::int_type ch = input.get();
+			intro[nIntroUsed++] = ch;
+			UtfIntroCharType charType = IntroCharTypeOf(ch);
+			UtfIntroState newState = s_introTransitions[state][charType];
+			int nUngets = s_introUngetCount[state][charType];
+			if (nUngets > 0) {
+				for (; nUngets > 0; --nUngets) {
+					if (char_traits::eof() != intro[--nIntroUsed]) {
+						m_bufPushback[m_nPushedBack++] = 
+							char_traits::to_char_type(intro[nIntroUsed]);
+					}
+				}
+			}
+			state = newState;
+		}
+
+		switch (state) {
+		case uis_utf8: m_charSet = utf8; break;
+		case uis_utf16le: m_charSet = utf16le; break;
+		case uis_utf16be: m_charSet = utf16be; break;
+		case uis_utf32le: m_charSet = utf32le; break;
+		case uis_utf32be: m_charSet = utf32be; break;
+		default: m_charSet = utf8; break;
+		}
+
+		ReadAheadTo(0);
+	}
+
+	Stream::~Stream()
+	{
+		delete[] m_pPrefetched;
+	}
+
+	char Stream::peek() const
+	{
+		if (m_readahead.empty())
+		{
+			return Stream::eof();
+		}
+
+		return m_readahead[0];
+	}
+	
+	Stream::operator bool() const
+	{
+		return m_input.good() || (!m_readahead.empty() && m_readahead[0] != Stream::eof());
+	}
+
+	// get
+	// . Extracts a character from the stream and updates our position
+	char Stream::get()
+	{
+		char ch = peek();
+		AdvanceCurrent();
+		m_mark.column++;
+		
+		if(ch == '\n') {
+			m_mark.column = 0;
+			m_mark.line++;
+		}
+		
+		return ch;
+	}
+
+	// get
+	// . Extracts 'n' characters from the stream and updates our position
+	std::string Stream::get(int n)
+	{
+		std::string ret;
+		ret.reserve(n);
+		for(int i=0;i<n;i++)
+			ret += get();
+		return ret;
+	}
+
+	// eat
+	// . Eats 'n' characters and updates our position.
+	void Stream::eat(int n)
+	{
+		for(int i=0;i<n;i++)
+			get();
+	}
+
+	void Stream::AdvanceCurrent()
+	{
+		if (!m_readahead.empty())
+		{
+			m_readahead.pop_front();
+			m_mark.pos++;
+		}
+
+		ReadAheadTo(0);
+	}
+
+	bool Stream::_ReadAheadTo(size_t i) const
+	{
+		while (m_input.good() && (m_readahead.size() <= i))
+		{
+			switch (m_charSet)
+			{
+			case utf8: StreamInUtf8(); break;
+			case utf16le: StreamInUtf16(); break;
+			case utf16be: StreamInUtf16(); break;
+			case utf32le: StreamInUtf32(); break;
+			case utf32be: StreamInUtf32(); break;
+			}
+		}
+		
+		// signal end of stream
+		if(!m_input.good())
+			m_readahead.push_back(Stream::eof());
+
+		return m_readahead.size() > i;
+	}
+
+	void Stream::StreamInUtf8() const
+	{
+		unsigned char b = GetNextByte();
+		if (m_input.good())
+		{
+			m_readahead.push_back(b);
+		}
+	}
+
+	void Stream::StreamInUtf16() const
+	{
+		unsigned long ch = 0;
+		unsigned char bytes[2];
+		int nBigEnd = (m_charSet == utf16be) ? 0 : 1;
+
+		bytes[0] = GetNextByte();
+		bytes[1] = GetNextByte();
+		if (!m_input.good())
+		{
+			return;
+		}
+		ch = (static_cast<unsigned long>(bytes[nBigEnd]) << 8) |
+			static_cast<unsigned long>(bytes[1 ^ nBigEnd]);
+
+		if (ch >= 0xDC00 && ch < 0xE000)
+		{
+			// Trailing (low) surrogate...ugh, wrong order
+			QueueUnicodeCodepoint(m_readahead, CP_REPLACEMENT_CHARACTER);
+			return;
+		}
+		else if (ch >= 0xD800 && ch < 0xDC00)
+		{
+			// ch is a leading (high) surrogate
+
+			// Four byte UTF-8 code point
+
+			// Read the trailing (low) surrogate
+			for (;;)
+			{
+				bytes[0] = GetNextByte();
+				bytes[1] = GetNextByte();
+				if (!m_input.good())
+				{
+					QueueUnicodeCodepoint(m_readahead, CP_REPLACEMENT_CHARACTER);
+					return;
+				}
+				unsigned long chLow = (static_cast<unsigned long>(bytes[nBigEnd]) << 8) |
+					static_cast<unsigned long>(bytes[1 ^ nBigEnd]);
+				if (chLow < 0xDC00 || ch >= 0xE000)
+				{
+					// Trouble...not a low surrogate.  Dump a REPLACEMENT CHARACTER into the stream.
+					QueueUnicodeCodepoint(m_readahead, CP_REPLACEMENT_CHARACTER);
+
+					// Deal with the next UTF-16 unit
+					if (chLow < 0xD800 || ch >= 0xE000)
+					{
+						// Easiest case: queue the codepoint and return
+						QueueUnicodeCodepoint(m_readahead, ch);
+						return;
+					}
+					else
+					{
+						// Start the loop over with the new high surrogate
+						ch = chLow;
+						continue;
+					}
+				}
+
+				// Select the payload bits from the high surrogate
+				ch &= 0x3FF;
+				ch <<= 10;
+
+				// Include bits from low surrogate
+				ch |= (chLow & 0x3FF);
+
+				// Add the surrogacy offset
+				ch += 0x10000;
+			}
+		}
+
+		QueueUnicodeCodepoint(m_readahead, ch);
+	}
+
+	inline char* ReadBuffer(unsigned char* pBuffer)
+	{
+		return reinterpret_cast<char*>(pBuffer);
+	}
+
+	unsigned char Stream::GetNextByte() const
+	{
+		if (m_nPushedBack)
+		{
+			return m_bufPushback[--m_nPushedBack];
+		}
+
+		if (m_nPrefetchedUsed >= m_nPrefetchedAvailable)
+		{
+			std::streambuf *pBuf = m_input.rdbuf();
+			m_nPrefetchedAvailable = pBuf->sgetn(ReadBuffer(m_pPrefetched), 
+				YAML_PREFETCH_SIZE);
+			m_nPrefetchedUsed = 0;
+			if (!m_nPrefetchedAvailable)
+			{
+				m_input.setstate(std::ios_base::eofbit);
+			}
+
+			if (0 == m_nPrefetchedAvailable)
+			{
+				return 0;
+			}
+		}
+
+		return m_pPrefetched[m_nPrefetchedUsed++];
+	}
+
+	void Stream::StreamInUtf32() const
+	{
+		static int indexes[2][4] = {
+			{3, 2, 1, 0},
+			{0, 1, 2, 3}
+		};
+
+		unsigned long ch = 0;
+		unsigned char bytes[4];
+		int* pIndexes = (m_charSet == utf32be) ? indexes[1] : indexes[0];
+
+		bytes[0] = GetNextByte();
+		bytes[1] = GetNextByte();
+		bytes[2] = GetNextByte();
+		bytes[3] = GetNextByte();
+		if (!m_input.good())
+		{
+			return;
+		}
+
+		for (int i = 0; i < 4; ++i)
+		{
+			ch <<= 8;
+			ch |= bytes[pIndexes[i]];
+		}
+
+		QueueUnicodeCodepoint(m_readahead, ch);
+	}
+}

tools/rosdep/yaml-cpp/src/stream.h

@@ -0,0 +1,80 @@
+#pragma once
+
+#ifndef STREAM_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define STREAM_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "noncopyable.h"
+#include "mark.h"
+#include <deque>
+#include <ios>
+#include <string>
+#include <iostream>
+#include <set>
+
+namespace YAML
+{
+	static const size_t MAX_PARSER_PUSHBACK = 8;
+
+	class Stream: private noncopyable
+	{
+	public:
+		friend class StreamCharSource;
+		
+		Stream(std::istream& input);
+		~Stream();
+
+		operator bool() const;
+		bool operator !() const { return !static_cast <bool>(*this); }
+
+		char peek() const;
+		char get();
+		std::string get(int n);
+		void eat(int n = 1);
+
+		static char eof() { return 0x04; }
+		
+		const Mark mark() const { return m_mark; }
+		int pos() const { return m_mark.pos; }
+		int line() const { return m_mark.line; }
+		int column() const { return m_mark.column; }
+		void ResetColumn() { m_mark.column = 0; }
+
+	private:
+		enum CharacterSet {utf8, utf16le, utf16be, utf32le, utf32be};
+
+		std::istream& m_input;
+		Mark m_mark;
+		
+		CharacterSet m_charSet;
+		unsigned char m_bufPushback[MAX_PARSER_PUSHBACK];
+		mutable size_t m_nPushedBack;
+		mutable std::deque<char> m_readahead;
+		unsigned char* const m_pPrefetched;
+		mutable size_t m_nPrefetchedAvailable;
+		mutable size_t m_nPrefetchedUsed;
+		
+		void AdvanceCurrent();
+		char CharAt(size_t i) const;
+		bool ReadAheadTo(size_t i) const;
+		bool _ReadAheadTo(size_t i) const;
+		void StreamInUtf8() const;
+		void StreamInUtf16() const;
+		void StreamInUtf32() const;
+		unsigned char GetNextByte() const;
+	};
+
+	// CharAt
+	// . Unchecked access
+	inline char Stream::CharAt(size_t i) const {
+		return m_readahead[i];
+	}
+	
+	inline bool Stream::ReadAheadTo(size_t i) const {
+		if(m_readahead.size() > i)
+			return true;
+		return _ReadAheadTo(i);
+	}	
+}
+
+#endif // STREAM_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/streamcharsource.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#ifndef STREAMCHARSOURCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define STREAMCHARSOURCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "noncopyable.h"
+#include <cstddef>
+
+namespace YAML
+{
+	class StreamCharSource
+	{
+	public:
+		StreamCharSource(const Stream& stream): m_offset(0), m_stream(stream) {}
+		StreamCharSource(const StreamCharSource& source): m_offset(source.m_offset), m_stream(source.m_stream) {}
+		~StreamCharSource() {}
+
+		operator bool() const;
+		char operator [] (std::size_t i) const { return m_stream.CharAt(m_offset + i); }
+		bool operator !() const { return !static_cast<bool>(*this); }
+
+		const StreamCharSource operator + (int i) const;
+			
+	private:
+		std::size_t m_offset;
+		const Stream& m_stream;
+
+		StreamCharSource& operator = (const StreamCharSource&); // non-assignable
+	};
+	
+	inline StreamCharSource::operator bool() const {
+		return m_stream.ReadAheadTo(m_offset);
+	}
+	
+	inline const StreamCharSource StreamCharSource::operator + (int i) const {
+		StreamCharSource source(*this);
+		if(static_cast<int> (source.m_offset) + i >= 0)
+			source.m_offset += i;
+		else
+			source.m_offset = 0;
+		return source;
+	}
+}
+
+#endif // STREAMCHARSOURCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/stringsource.h

@@ -0,0 +1,40 @@
+#pragma once
+
+#ifndef STRINGSOURCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define STRINGSOURCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include <cstddef>
+
+namespace YAML
+{
+	class StringCharSource
+	{
+	public:
+		StringCharSource(const char *str, std::size_t size): m_str(str), m_size(size), m_offset(0) {}
+
+		operator bool() const { return m_offset < m_size; }
+		char operator [] (std::size_t i) const { return m_str[m_offset + i]; }
+		bool operator !() const { return !static_cast<bool>(*this); }
+
+		const StringCharSource operator + (int i) const {
+			StringCharSource source(*this);
+			if(static_cast<int> (source.m_offset) + i >= 0)
+				source.m_offset += i;
+			else
+				source.m_offset = 0;
+			return source;
+		}
+			
+		StringCharSource& operator ++ () {
+			++m_offset;
+			return *this;
+		}
+	private:
+		const char *m_str;
+		std::size_t m_size;
+		std::size_t m_offset;
+	};
+}
+
+#endif // STRINGSOURCE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/src/token.h

@@ -0,0 +1,79 @@
+#pragma once
+
+#ifndef TOKEN_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define TOKEN_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+
+#include "mark.h"
+#include <ios>
+#include <string>
+#include <vector>
+
+namespace YAML
+{
+	const std::string TokenNames[] = {
+		"DIRECTIVE",
+		"DOC_START",
+		"DOC_END",
+		"BLOCK_SEQ_START",
+		"BLOCK_MAP_START",
+		"BLOCK_SEQ_END",
+		"BLOCK_MAP_END",
+		"BLOCK_ENTRY",
+		"FLOW_SEQ_START",
+		"FLOW_MAP_START",
+		"FLOW_SEQ_END",
+		"FLOW_MAP_END",
+		"FLOW_ENTRY",
+		"KEY",
+		"VALUE",
+		"ANCHOR",
+		"ALIAS",
+		"TAG",
+		"SCALAR"
+	};
+
+	struct Token {
+		// enums
+		enum STATUS { VALID, INVALID, UNVERIFIED };
+		enum TYPE {
+			DIRECTIVE,
+			DOC_START,
+			DOC_END,
+			BLOCK_SEQ_START,
+			BLOCK_MAP_START,
+			BLOCK_SEQ_END,
+			BLOCK_MAP_END,
+			BLOCK_ENTRY,
+			FLOW_SEQ_START,
+			FLOW_MAP_START,
+			FLOW_SEQ_END,
+			FLOW_MAP_END,
+			FLOW_ENTRY,
+			KEY,
+			VALUE,
+			ANCHOR,
+			ALIAS,
+			TAG,
+			SCALAR
+		};
+				
+		// data
+		Token(TYPE type_, const Mark& mark_): status(VALID), type(type_), mark(mark_) {}
+
+		friend std::ostream& operator << (std::ostream& out, const Token& token) {
+			out << TokenNames[token.type] << std::string(": ") << token.value;
+			for(std::size_t i=0;i<token.params.size();i++)
+				out << std::string(" ") << token.params[i];
+			return out;
+		}
+
+		STATUS status;
+		TYPE type;
+		Mark mark;
+		std::string value;
+		std::vector <std::string> params;
+	};
+}
+
+#endif // TOKEN_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/util/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_executable(parse parse.cpp)
+target_link_libraries(parse yaml-cpp)

tools/rosdep/yaml-cpp/util/parse.cpp

@@ -0,0 +1,24 @@
+#include "yaml.h"
+#include <fstream>
+#include <iostream>
+
+int main(int argc, char **argv)
+{
+	std::ifstream fin;
+	if(argc > 1)
+		fin.open(argv[1]);
+	
+	std::istream& input = (argc > 1 ? fin : std::cin);
+	try {
+		YAML::Parser parser(input);
+		YAML::Node doc;
+		while(parser.GetNextDocument(doc)) {
+			YAML::Emitter emitter;
+			emitter << doc;
+			std::cout << emitter.c_str() << "\n";
+		}
+	} catch(const YAML::Exception& e) {
+		std::cerr << e.what() << "\n";
+	}
+	return 0;
+}

tools/rosdep/yaml-cpp/yaml-cpp.pc.cmake

@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${prefix}/@LIB_INSTALL_DIR@
+includedir=${prefix}/@INCLUDE_INSTALL_DIR@
+
+Name: Yaml-cpp
+Description: A YAML parser and emitter for C++
+Version: @YAML_CPP_VERSION@
+Requires:
+Libs: -L${libdir} -lyaml-cpp
+Cflags: -I${includedir}

tools/rosdep/yaml-cpp/yaml-reader.vcproj

@@ -0,0 +1,216 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9.00"
+	Name="yaml-reader"
+	ProjectGUID="{E8CC0D8A-D784-4A6B-B78B-ACEA13F9FB0B}"
+	RootNamespace="yamlreader"
+	TargetFrameworkVersion="196613"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="$(SolutionDir)$(ConfigurationName)"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="1"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="include"
+				MinimalRebuild="true"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="3"
+				WarningLevel="3"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="yamlcppd.lib"
+				AdditionalLibraryDirectories="lib"
+				GenerateDebugInformation="true"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="$(SolutionDir)$(ConfigurationName)"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="1"
+			CharacterSet="2"
+			WholeProgramOptimization="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				EnableIntrinsicFunctions="true"
+				AdditionalIncludeDirectories="include"
+				RuntimeLibrary="2"
+				EnableFunctionLevelLinking="true"
+				WarningLevel="4"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="yamlcpp.lib"
+				AdditionalLibraryDirectories="lib"
+				GenerateDebugInformation="true"
+				OptimizeReferences="2"
+				EnableCOMDATFolding="2"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx"
+			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
+			>
+			<File
+				RelativePath=".\yaml-reader\emittertests.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\yaml-reader\main.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\yaml-reader\parsertests.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\yaml-reader\spectests.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\yaml-reader\tests.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl;inc;xsd"
+			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
+			>
+			<File
+				RelativePath=".\yaml-reader\emittertests.h"
+				>
+			</File>
+			<File
+				RelativePath=".\yaml-reader\parsertests.h"
+				>
+			</File>
+			<File
+				RelativePath=".\yaml-reader\spectests.h"
+				>
+			</File>
+			<File
+				RelativePath=".\yaml-reader\tests.h"
+				>
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

tools/rosdep/yaml-cpp/yaml-reader/CMakeLists.txt

@@ -0,0 +1,10 @@
+file(GLOB yaml-reader_headers *.h)
+file(GLOB yaml-reader_sources *.cpp)
+
+add_executable(yaml-reader
+	${yaml-reader_sources}
+	${yaml-reader_headers}
+)
+target_link_libraries(yaml-reader yaml-cpp)
+
+add_test(yaml-reader-test yaml-reader)

tools/rosdep/yaml-cpp/yaml-reader/emittertests.cpp

@@ -0,0 +1,650 @@
+#include "tests.h"
+#include "yaml.h"
+
+namespace Test
+{
+	namespace Emitter {
+		////////////////////////////////////////////////////////////////////////////////////////////////////////
+		// correct emitting
+
+		void SimpleScalar(YAML::Emitter& out, std::string& desiredOutput) {
+			out << "Hello, World!";
+			desiredOutput = "Hello, World!";
+		}
+		
+		void SimpleSeq(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginSeq;
+			out << "eggs";
+			out << "bread";
+			out << "milk";
+			out << YAML::EndSeq;
+
+			desiredOutput = "- eggs\n- bread\n- milk";
+		}
+		
+		void SimpleFlowSeq(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::Flow;
+			out << YAML::BeginSeq;
+			out << "Larry";
+			out << "Curly";
+			out << "Moe";
+			out << YAML::EndSeq;
+			
+			desiredOutput = "[Larry, Curly, Moe]";
+		}
+		
+		void EmptyFlowSeq(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::Flow;
+			out << YAML::BeginSeq;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "[]";
+		}
+		
+		void NestedBlockSeq(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginSeq;
+			out << "item 1";
+			out << YAML::BeginSeq << "subitem 1" << "subitem 2" << YAML::EndSeq;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- item 1\n-\n  - subitem 1\n  - subitem 2";
+		}
+		
+		void NestedFlowSeq(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginSeq;
+			out << "one";
+			out << YAML::Flow << YAML::BeginSeq << "two" << "three" << YAML::EndSeq;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- one\n- [two, three]";
+		}
+
+		void SimpleMap(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginMap;
+			out << YAML::Key << "name";
+			out << YAML::Value << "Ryan Braun";
+			out << YAML::Key << "position";
+			out << YAML::Value << "3B";
+			out << YAML::EndMap;
+
+			desiredOutput = "name: Ryan Braun\nposition: 3B";
+		}
+		
+		void SimpleFlowMap(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::Flow;
+			out << YAML::BeginMap;
+			out << YAML::Key << "shape";
+			out << YAML::Value << "square";
+			out << YAML::Key << "color";
+			out << YAML::Value << "blue";
+			out << YAML::EndMap;
+			
+			desiredOutput = "{shape: square, color: blue}";
+		}
+		
+		void MapAndList(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginMap;
+			out << YAML::Key << "name";
+			out << YAML::Value << "Barack Obama";
+			out << YAML::Key << "children";
+			out << YAML::Value << YAML::BeginSeq << "Sasha" << "Malia" << YAML::EndSeq;
+			out << YAML::EndMap;
+
+			desiredOutput = "name: Barack Obama\nchildren:\n  - Sasha\n  - Malia";
+		}
+		
+		void ListAndMap(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginSeq;
+			out << "item 1";
+			out << YAML::BeginMap;
+			out << YAML::Key << "pens" << YAML::Value << 8;
+			out << YAML::Key << "pencils" << YAML::Value << 14;
+			out << YAML::EndMap;
+			out << "item 2";
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- item 1\n-\n  pens: 8\n  pencils: 14\n- item 2";
+		}
+
+		void NestedBlockMap(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginMap;
+			out << YAML::Key << "name";
+			out << YAML::Value << "Fred";
+			out << YAML::Key << "grades";
+			out << YAML::Value;
+			out << YAML::BeginMap;
+			out << YAML::Key << "algebra" << YAML::Value << "A";
+			out << YAML::Key << "physics" << YAML::Value << "C+";
+			out << YAML::Key << "literature" << YAML::Value << "B";
+			out << YAML::EndMap;
+			out << YAML::EndMap;
+			
+			desiredOutput = "name: Fred\ngrades:\n  algebra: A\n  physics: C+\n  literature: B";
+		}
+
+		void NestedFlowMap(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::Flow;
+			out << YAML::BeginMap;
+			out << YAML::Key << "name";
+			out << YAML::Value << "Fred";
+			out << YAML::Key << "grades";
+			out << YAML::Value;
+			out << YAML::BeginMap;
+			out << YAML::Key << "algebra" << YAML::Value << "A";
+			out << YAML::Key << "physics" << YAML::Value << "C+";
+			out << YAML::Key << "literature" << YAML::Value << "B";
+			out << YAML::EndMap;
+			out << YAML::EndMap;
+			
+			desiredOutput = "{name: Fred, grades: {algebra: A, physics: C+, literature: B}}";
+		}
+		
+		void MapListMix(YAML::Emitter& out, std::string& desiredOutput) {
+			out << YAML::BeginMap;
+			out << YAML::Key << "name";
+			out << YAML::Value << "Bob";
+			out << YAML::Key << "position";
+			out << YAML::Value;
+			out << YAML::Flow << YAML::BeginSeq << 2 << 4 << YAML::EndSeq;
+			out << YAML::Key << "invincible" << YAML::Value << YAML::OnOffBool << false;
+			out << YAML::EndMap;
+			
+			desiredOutput = "name: Bob\nposition: [2, 4]\ninvincible: off";
+		}
+
+		void SimpleLongKey(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::LongKey;
+			out << YAML::BeginMap;
+			out << YAML::Key << "height";
+			out << YAML::Value << "5'9\"";
+			out << YAML::Key << "weight";
+			out << YAML::Value << 145;
+			out << YAML::EndMap;
+			
+			desiredOutput = "? height\n: 5'9\"\n? weight\n: 145";
+		}
+		
+		void SingleLongKey(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginMap;
+			out << YAML::Key << "age";
+			out << YAML::Value << "24";
+			out << YAML::LongKey << YAML::Key << "height";
+			out << YAML::Value << "5'9\"";
+			out << YAML::Key << "weight";
+			out << YAML::Value << 145;
+			out << YAML::EndMap;
+			
+			desiredOutput = "age: 24\n? height\n: 5'9\"\nweight: 145";
+		}
+		
+		void ComplexLongKey(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::LongKey;
+			out << YAML::BeginMap;
+			out << YAML::Key << YAML::BeginSeq << 1 << 3 << YAML::EndSeq;
+			out << YAML::Value << "monster";
+			out << YAML::Key << YAML::Flow << YAML::BeginSeq << 2 << 0 << YAML::EndSeq;
+			out << YAML::Value << "demon";
+			out << YAML::EndMap;
+			
+			desiredOutput = "?\n  - 1\n  - 3\n: monster\n? [2, 0]\n: demon";
+		}
+
+		void AutoLongKey(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginMap;
+			out << YAML::Key << YAML::BeginSeq << 1 << 3 << YAML::EndSeq;
+			out << YAML::Value << "monster";
+			out << YAML::Key << YAML::Flow << YAML::BeginSeq << 2 << 0 << YAML::EndSeq;
+			out << YAML::Value << "demon";
+			out << YAML::Key << "the origin";
+			out << YAML::Value << "angel";
+			out << YAML::EndMap;
+			
+			desiredOutput = "?\n  - 1\n  - 3\n: monster\n? [2, 0]\n: demon\nthe origin: angel";
+		}
+		
+		void ScalarFormat(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginSeq;
+			out << "simple scalar";
+			out << YAML::SingleQuoted << "explicit single-quoted scalar";
+			out << YAML::DoubleQuoted << "explicit double-quoted scalar";
+			out << "auto-detected\ndouble-quoted scalar";
+			out << "a non-\"auto-detected\" double-quoted scalar";
+			out << YAML::Literal << "literal scalar\nthat may span\nmany, many\nlines and have \"whatever\" crazy\tsymbols that we like";
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- simple scalar\n- 'explicit single-quoted scalar'\n- \"explicit double-quoted scalar\"\n- \"auto-detected\\x0adouble-quoted scalar\"\n- a non-\"auto-detected\" double-quoted scalar\n- |\n  literal scalar\n  that may span\n  many, many\n  lines and have \"whatever\" crazy\tsymbols that we like";
+		}
+
+		void AutoLongKeyScalar(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginMap;
+			out << YAML::Key << YAML::Literal << "multi-line\nscalar";
+			out << YAML::Value << "and its value";
+			out << YAML::EndMap;
+			
+			desiredOutput = "? |\n  multi-line\n  scalar\n: and its value";
+		}
+		
+		void LongKeyFlowMap(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::Flow;
+			out << YAML::BeginMap;
+			out << YAML::Key << "simple key";
+			out << YAML::Value << "and value";
+			out << YAML::LongKey << YAML::Key << "long key";
+			out << YAML::Value << "and its value";
+			out << YAML::EndMap;
+			
+			desiredOutput = "{simple key: and value, ? long key: and its value}";
+		}
+
+		void BlockMapAsKey(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginMap;
+			out << YAML::Key;
+			out << YAML::BeginMap;
+			out << YAML::Key << "key" << YAML::Value << "value";
+			out << YAML::Key << "next key" << YAML::Value << "next value";
+			out << YAML::EndMap;
+			out << YAML::Value;
+			out << "total value";
+			out << YAML::EndMap;
+			
+			desiredOutput = "?\n  key: value\n  next key: next value\n: total value";
+		}
+		
+		void AliasAndAnchor(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginSeq;
+			out << YAML::Anchor("fred");
+			out << YAML::BeginMap;
+			out << YAML::Key << "name" << YAML::Value << "Fred";
+			out << YAML::Key << "age" << YAML::Value << 42;
+			out << YAML::EndMap;
+			out << YAML::Alias("fred");
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- &fred\n  name: Fred\n  age: 42\n- *fred";
+		}
+
+		void AliasAndAnchorWithNull(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginSeq;
+			out << YAML::Anchor("fred") << YAML::Null;
+			out << YAML::Alias("fred");
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- &fred ~\n- *fred";
+		}
+
+		void ComplexDoc(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginMap;
+			out << YAML::Key << "receipt";
+			out << YAML::Value << "Oz-Ware Purchase Invoice";
+			out << YAML::Key << "date";
+			out << YAML::Value << "2007-08-06";
+			out << YAML::Key << "customer";
+			out << YAML::Value;
+			out << YAML::BeginMap;
+			out << YAML::Key << "given";
+			out << YAML::Value << "Dorothy";
+			out << YAML::Key << "family";
+			out << YAML::Value << "Gale";
+			out << YAML::EndMap;
+			out << YAML::Key << "items";
+			out << YAML::Value;
+			out << YAML::BeginSeq;
+			out << YAML::BeginMap;
+			out << YAML::Key << "part_no";
+			out << YAML::Value << "A4786";
+			out << YAML::Key << "descrip";
+			out << YAML::Value << "Water Bucket (Filled)";
+			out << YAML::Key << "price";
+			out << YAML::Value << 1.47;
+			out << YAML::Key << "quantity";
+			out << YAML::Value << 4;
+			out << YAML::EndMap;
+			out << YAML::BeginMap;
+			out << YAML::Key << "part_no";
+			out << YAML::Value << "E1628";
+			out << YAML::Key << "descrip";
+			out << YAML::Value << "High Heeled \"Ruby\" Slippers";
+			out << YAML::Key << "price";
+			out << YAML::Value << 100.27;
+			out << YAML::Key << "quantity";
+			out << YAML::Value << 1;
+			out << YAML::EndMap;
+			out << YAML::EndSeq;
+			out << YAML::Key << "bill-to";
+			out << YAML::Value << YAML::Anchor("id001");
+			out << YAML::BeginMap;
+			out << YAML::Key << "street";
+			out << YAML::Value << YAML::Literal << "123 Tornado Alley\nSuite 16";
+			out << YAML::Key << "city";
+			out << YAML::Value << "East Westville";
+			out << YAML::Key << "state";
+			out << YAML::Value << "KS";
+			out << YAML::EndMap;
+			out << YAML::Key << "ship-to";
+			out << YAML::Value << YAML::Alias("id001");
+			out << YAML::EndMap;
+			
+			desiredOutput = "receipt: Oz-Ware Purchase Invoice\ndate: 2007-08-06\ncustomer:\n  given: Dorothy\n  family: Gale\nitems:\n  -\n    part_no: A4786\n    descrip: Water Bucket (Filled)\n    price: 1.47\n    quantity: 4\n  -\n    part_no: E1628\n    descrip: High Heeled \"Ruby\" Slippers\n    price: 100.27\n    quantity: 1\nbill-to: &id001\n  street: |\n    123 Tornado Alley\n    Suite 16\n  city: East Westville\n  state: KS\nship-to: *id001";
+		}
+
+		void STLContainers(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginSeq;
+			std::vector <int> primes;
+			primes.push_back(2);
+			primes.push_back(3);
+			primes.push_back(5);
+			primes.push_back(7);
+			primes.push_back(11);
+			primes.push_back(13);
+			out << YAML::Flow << primes;
+			std::map <std::string, int> ages;
+			ages["Daniel"] = 26;
+			ages["Jesse"] = 24;
+			out << ages;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- [2, 3, 5, 7, 11, 13]\n-\n  Daniel: 26\n  Jesse: 24";
+		}
+
+		void SimpleComment(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginMap;
+			out << YAML::Key << "method";
+			out << YAML::Value << "least squares" << YAML::Comment("should we change this method?");
+			out << YAML::EndMap;
+			
+			desiredOutput = "method: least squares  # should we change this method?";
+		}
+
+		void MultiLineComment(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginSeq;
+			out << "item 1" << YAML::Comment("really really long\ncomment that couldn't possibly\nfit on one line");
+			out << "item 2";
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- item 1  # really really long\n          # comment that couldn't possibly\n          # fit on one line\n- item 2";
+		}
+
+		void ComplexComments(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginMap;
+			out << YAML::LongKey << YAML::Key << "long key" << YAML::Comment("long key");
+			out << YAML::Value << "value";
+			out << YAML::EndMap;
+			
+			desiredOutput = "? long key  # long key\n: value";
+		}
+
+		void Indentation(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::Indent(4);
+			out << YAML::BeginSeq;
+			out << YAML::BeginMap;
+			out << YAML::Key << "key 1" << YAML::Value << "value 1";
+			out << YAML::Key << "key 2" << YAML::Value << YAML::BeginSeq << "a" << "b" << "c" << YAML::EndSeq;
+			out << YAML::EndMap;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "-\n    key 1: value 1\n    key 2:\n        - a\n        - b\n        - c";
+		}
+
+		void SimpleGlobalSettings(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out.SetIndent(4);
+			out.SetMapFormat(YAML::LongKey);
+
+			out << YAML::BeginSeq;
+			out << YAML::BeginMap;
+			out << YAML::Key << "key 1" << YAML::Value << "value 1";
+			out << YAML::Key << "key 2" << YAML::Value << YAML::Flow << YAML::BeginSeq << "a" << "b" << "c" << YAML::EndSeq;
+			out << YAML::EndMap;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "-\n    ? key 1\n    : value 1\n    ? key 2\n    : [a, b, c]";
+		}
+		
+		void ComplexGlobalSettings(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginSeq;
+			out << YAML::Block;
+			out << YAML::BeginMap;
+			out << YAML::Key << "key 1" << YAML::Value << "value 1";
+			out << YAML::Key << "key 2" << YAML::Value;
+			out.SetSeqFormat(YAML::Flow);
+			out << YAML::BeginSeq << "a" << "b" << "c" << YAML::EndSeq;
+			out << YAML::EndMap;
+			out << YAML::BeginMap;
+			out << YAML::Key << YAML::BeginSeq << 1 << 2 << YAML::EndSeq;
+			out << YAML::Value << YAML::BeginMap << YAML::Key << "a" << YAML::Value << "b" << YAML::EndMap;
+			out << YAML::EndMap;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "-\n  key 1: value 1\n  key 2: [a, b, c]\n-\n  ? [1, 2]\n  :\n    a: b";
+		}
+
+		void Null(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::BeginSeq;
+			out << YAML::Null;
+			out << YAML::BeginMap;
+			out << YAML::Key << "null value" << YAML::Value << YAML::Null;
+			out << YAML::Key << YAML::Null << YAML::Value << "null key";
+			out << YAML::EndMap;
+			out << YAML::EndSeq;
+			
+			desiredOutput = "- ~\n-\n  null value: ~\n  ~: null key";
+		}
+		
+		void EscapedUnicode(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::EscapeNonAscii << "\x24 \xC2\xA2 \xE2\x82\xAC \xF0\xA4\xAD\xA2";
+			
+			desiredOutput = "\"$ \\xa2 \\u20ac \\U00024b62\"";
+		}
+		
+		void Unicode(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << "\x24 \xC2\xA2 \xE2\x82\xAC \xF0\xA4\xAD\xA2";
+			desiredOutput = "\x24 \xC2\xA2 \xE2\x82\xAC \xF0\xA4\xAD\xA2";
+		}
+		
+		void DoubleQuotedUnicode(YAML::Emitter& out, std::string& desiredOutput)
+		{
+			out << YAML::DoubleQuoted << "\x24 \xC2\xA2 \xE2\x82\xAC \xF0\xA4\xAD\xA2";
+			desiredOutput = "\"\x24 \xC2\xA2 \xE2\x82\xAC \xF0\xA4\xAD\xA2\"";
+		}
+		
+
+		////////////////////////////////////////////////////////////////////////////////////////////////////////
+		// incorrect emitting
+		
+		void ExtraEndSeq(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::UNEXPECTED_END_SEQ;
+
+			out << YAML::BeginSeq;
+			out << "Hello";
+			out << "World";
+			out << YAML::EndSeq;
+			out << YAML::EndSeq;
+		}
+
+		void ExtraEndMap(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::UNEXPECTED_END_MAP;
+			
+			out << YAML::BeginMap;
+			out << YAML::Key << "Hello" << YAML::Value << "World";
+			out << YAML::EndMap;
+			out << YAML::EndMap;
+		}
+
+		void BadSingleQuoted(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::SINGLE_QUOTED_CHAR;
+			
+			out << YAML::SingleQuoted << "Hello\nWorld";
+		}
+
+		void InvalidAnchor(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::INVALID_ANCHOR;
+			
+			out << YAML::BeginSeq;
+			out << YAML::Anchor("new\nline") << "Test";
+			out << YAML::EndSeq;
+		}
+		
+		void InvalidAlias(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::INVALID_ALIAS;
+			
+			out << YAML::BeginSeq;
+			out << YAML::Alias("new\nline");
+			out << YAML::EndSeq;
+		}
+
+		void MissingKey(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::EXPECTED_KEY_TOKEN;
+			
+			out << YAML::BeginMap;
+			out << YAML::Key << "key" << YAML::Value << "value";
+			out << "missing key" << YAML::Value << "value";
+			out << YAML::EndMap;
+		}
+		
+		void MissingValue(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::EXPECTED_VALUE_TOKEN;
+			
+			out << YAML::BeginMap;
+			out << YAML::Key << "key" << "value";
+			out << YAML::EndMap;
+		}
+
+		void UnexpectedKey(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::UNEXPECTED_KEY_TOKEN;
+			
+			out << YAML::BeginSeq;
+			out << YAML::Key << "hi";
+			out << YAML::EndSeq;
+		}
+		
+		void UnexpectedValue(YAML::Emitter& out, std::string& desiredError)
+		{
+			desiredError = YAML::ErrorMsg::UNEXPECTED_VALUE_TOKEN;
+			
+			out << YAML::BeginSeq;
+			out << YAML::Value << "hi";
+			out << YAML::EndSeq;
+		}
+	}
+	
+	namespace {
+		void RunEmitterTest(void (*test)(YAML::Emitter&, std::string&), const std::string& name, int& passed, int& total) {
+			YAML::Emitter out;
+			std::string desiredOutput;
+			test(out, desiredOutput);
+			std::string output = out.c_str();
+
+			if(output == desiredOutput) {
+				passed++;
+			} else {
+				std::cout << "Emitter test failed: " << name << "\n";
+				std::cout << "Output:\n";
+				std::cout << output << "<<<\n";
+				std::cout << "Desired output:\n";
+				std::cout << desiredOutput << "<<<\n";				
+			}
+			total++;
+		}
+		
+		void RunEmitterErrorTest(void (*test)(YAML::Emitter&, std::string&), const std::string& name, int& passed, int& total) {
+			YAML::Emitter out;
+			std::string desiredError;
+			test(out, desiredError);
+			std::string lastError = out.GetLastError();
+			if(!out.good() && lastError == desiredError) {
+				passed++;
+			} else {
+				std::cout << "Emitter test failed: " << name << "\n";
+				if(out.good())
+					std::cout << "No error detected\n";
+				else
+					std::cout << "Detected error: " << lastError << "\n";
+				std::cout << "Expected error: " << desiredError << "\n";
+			}
+			total++;
+		}
+	}
+	
+	bool RunEmitterTests()
+	{
+		int passed = 0;
+		int total = 0;
+		RunEmitterTest(&Emitter::SimpleScalar, "simple scalar", passed, total);
+		RunEmitterTest(&Emitter::SimpleSeq, "simple seq", passed, total);
+		RunEmitterTest(&Emitter::SimpleFlowSeq, "simple flow seq", passed, total);
+		RunEmitterTest(&Emitter::EmptyFlowSeq, "empty flow seq", passed, total);
+		RunEmitterTest(&Emitter::NestedBlockSeq, "nested block seq", passed, total);
+		RunEmitterTest(&Emitter::NestedFlowSeq, "nested flow seq", passed, total);
+		RunEmitterTest(&Emitter::SimpleMap, "simple map", passed, total);
+		RunEmitterTest(&Emitter::SimpleFlowMap, "simple flow map", passed, total);
+		RunEmitterTest(&Emitter::MapAndList, "map and list", passed, total);
+		RunEmitterTest(&Emitter::ListAndMap, "list and map", passed, total);
+		RunEmitterTest(&Emitter::NestedBlockMap, "nested block map", passed, total);
+		RunEmitterTest(&Emitter::NestedFlowMap, "nested flow map", passed, total);
+		RunEmitterTest(&Emitter::MapListMix, "map list mix", passed, total);
+		RunEmitterTest(&Emitter::SimpleLongKey, "simple long key", passed, total);
+		RunEmitterTest(&Emitter::SingleLongKey, "single long key", passed, total);
+		RunEmitterTest(&Emitter::ComplexLongKey, "complex long key", passed, total);
+		RunEmitterTest(&Emitter::AutoLongKey, "auto long key", passed, total);
+		RunEmitterTest(&Emitter::ScalarFormat, "scalar format", passed, total);
+		RunEmitterTest(&Emitter::AutoLongKeyScalar, "auto long key scalar", passed, total);
+		RunEmitterTest(&Emitter::LongKeyFlowMap, "long key flow map", passed, total);
+		RunEmitterTest(&Emitter::BlockMapAsKey, "block map as key", passed, total);
+		RunEmitterTest(&Emitter::AliasAndAnchor, "alias and anchor", passed, total);
+		RunEmitterTest(&Emitter::AliasAndAnchorWithNull, "alias and anchor with null", passed, total);
+		RunEmitterTest(&Emitter::ComplexDoc, "complex doc", passed, total);
+		RunEmitterTest(&Emitter::STLContainers, "STL containers", passed, total);
+		RunEmitterTest(&Emitter::SimpleComment, "simple comment", passed, total);
+		RunEmitterTest(&Emitter::MultiLineComment, "multi-line comment", passed, total);
+		RunEmitterTest(&Emitter::ComplexComments, "complex comments", passed, total);
+		RunEmitterTest(&Emitter::Indentation, "indentation", passed, total);
+		RunEmitterTest(&Emitter::SimpleGlobalSettings, "simple global settings", passed, total);
+		RunEmitterTest(&Emitter::ComplexGlobalSettings, "complex global settings", passed, total);
+		RunEmitterTest(&Emitter::Null, "null", passed, total);
+		RunEmitterTest(&Emitter::EscapedUnicode, "escaped unicode", passed, total);
+		RunEmitterTest(&Emitter::Unicode, "unicode", passed, total);
+		RunEmitterTest(&Emitter::DoubleQuotedUnicode, "double quoted unicode", passed, total);
+		
+		RunEmitterErrorTest(&Emitter::ExtraEndSeq, "extra EndSeq", passed, total);
+		RunEmitterErrorTest(&Emitter::ExtraEndMap, "extra EndMap", passed, total);
+		RunEmitterErrorTest(&Emitter::BadSingleQuoted, "bad single quoted string", passed, total);
+		RunEmitterErrorTest(&Emitter::InvalidAnchor, "invalid anchor", passed, total);
+		RunEmitterErrorTest(&Emitter::InvalidAlias, "invalid alias", passed, total);
+		RunEmitterErrorTest(&Emitter::MissingKey, "missing key", passed, total);
+		RunEmitterErrorTest(&Emitter::MissingValue, "missing value", passed, total);
+		RunEmitterErrorTest(&Emitter::UnexpectedKey, "unexpected key", passed, total);
+		RunEmitterErrorTest(&Emitter::UnexpectedValue, "unexpected value", passed, total);
+
+		std::cout << "Emitter tests: " << passed << "/" << total << " passed\n";
+		return passed == total;
+	}
+}
+

tools/rosdep/yaml-cpp/yaml-reader/emittertests.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#ifndef EMITTERTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTERTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+namespace Test {
+	bool RunEmitterTests();
+}
+
+#endif // EMITTERTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+

tools/rosdep/yaml-cpp/yaml-reader/main.cpp

@@ -0,0 +1,11 @@
+#include "tests.h"
+
+int main()
+{
+#ifdef WINDOWS
+	_CrtSetDbgFlag(_CRTDBG_LEAK_CHECK_DF|_CRTDBG_ALLOC_MEM_DF);
+#endif // WINDOWS
+	Test::RunAll();
+
+	return 0;
+}

tools/rosdep/yaml-cpp/yaml-reader/parsertests.cpp

@@ -0,0 +1,888 @@
+#include "tests.h"
+#include "yaml.h"
+#include <sstream>
+#include <algorithm>
+
+namespace Test
+{
+	namespace Parser {
+		void SimpleScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar = "Hello, World!";
+			desiredOutput = "Hello, World!";
+		}
+
+		void MultiLineScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar =
+				"normal scalar, but\n"
+				"over several lines";
+			desiredOutput = "normal scalar, but over several lines";
+		}
+
+		void LiteralScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar =
+				"|\n"
+				" literal scalar - so we can draw ASCII:\n"
+				" \n"
+                "          -   -\n"
+                "         |  -  |\n"
+                "          -----\n";
+			desiredOutput =
+				"literal scalar - so we can draw ASCII:\n"
+				"\n"
+                "         -   -\n"
+                "        |  -  |\n"
+                "         -----\n";
+		}
+
+		void FoldedScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar =
+				">\n"
+				" and a folded scalar... so we\n"
+				" can just keep writing various\n"
+				" things. And if we want to keep indentation:\n"
+				" \n"
+				"    we just indent a little\n"
+				"    see, this stays indented";
+			desiredOutput =
+				"and a folded scalar... so we"
+				" can just keep writing various"
+				" things. And if we want to keep indentation:\n"
+				"\n"
+				"   we just indent a little\n"
+				"   see, this stays indented";
+		}
+
+		void ChompedFoldedScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar =
+				">-\n"
+				"  Here's a folded scalar\n"
+				"  that gets chomped.";
+			desiredOutput =
+				"Here's a folded scalar"
+				" that gets chomped.";
+		}
+
+		void ChompedLiteralScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar =
+				"|-\n"
+				"  Here's a literal scalar\n"
+				"  that gets chomped.";
+			desiredOutput =
+				"Here's a literal scalar\n"
+				"that gets chomped.";
+		}
+
+		void FoldedScalarWithIndent(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar =
+				">2\n"
+				"       Here's a folded scalar\n"
+				"  that starts with some indentation.";
+			desiredOutput =
+				"     Here's a folded scalar\n"
+				"that starts with some indentation.";
+		}
+
+		void ColonScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar = "::vector";
+			desiredOutput = "::vector";
+		}
+
+		void QuotedScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar = "\": - ()\"";
+			desiredOutput = ": - ()";
+		}
+
+		void CommaScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar = "Up, up, and away!";
+			desiredOutput = "Up, up, and away!";
+		}
+
+		void DashScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar = "-123";
+			desiredOutput = "-123";
+		}
+
+		void URLScalar(std::string& inputScalar, std::string& desiredOutput)
+		{
+			inputScalar = "http://example.com/foo#bar";
+			desiredOutput = "http://example.com/foo#bar";
+		}
+
+		bool SimpleSeq()
+		{
+			std::string input =
+				"- eggs\n"
+				"- bread\n"
+				"- milk";
+
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+
+			std::string output;
+			doc[0] >> output;
+			if(output != "eggs")
+				return false;
+			doc[1] >> output;
+			if(output != "bread")
+				return false;
+			doc[2] >> output;
+			if(output != "milk")
+				return false;
+
+			return true;
+		}
+
+		bool SimpleMap()
+		{
+			std::string input =
+				"name: Prince Fielder\n"
+				"position: 1B\n"
+				"bats: L";
+
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+
+			std::string output;
+			doc["name"] >> output;
+			if(output != "Prince Fielder")
+				return false;
+			doc["position"] >> output;
+			if(output != "1B")
+				return false;
+			doc["bats"] >> output;
+			if(output != "L")
+				return false;
+
+			return true;
+		}
+
+		bool FlowSeq()
+		{
+			std::string input = "[ 2 , 3, 5  ,  7,   11]";
+
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+
+			int output;
+			doc[0] >> output;
+			if(output != 2)
+				return false;
+			doc[1] >> output;
+			if(output != 3)
+				return false;
+			doc[2] >> output;
+			if(output != 5)
+				return false;
+			doc[3] >> output;
+			if(output != 7)
+				return false;
+			doc[4] >> output;
+			if(output != 11)
+				return false;
+
+			return true;
+		}
+
+		bool FlowMap()
+		{
+			std::string input = "{hr: 65, avg: 0.278}";
+
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+
+			std::string output;
+			doc["hr"] >> output;
+			if(output != "65")
+				return false;
+			doc["avg"] >> output;
+			if(output != "0.278")
+				return false;
+
+			return true;
+		}
+
+		bool FlowMapWithOmittedKey()
+		{
+			std::string input = "{: omitted key}";
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			std::string output;
+			doc[YAML::Null] >> output;
+			if(output != "omitted key")
+				return false;
+			
+			return true;
+		}
+		
+		bool FlowMapWithOmittedValue()
+		{
+			std::string input = "{a: b, c:, d:}";
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+
+			std::string output;
+			doc["a"] >> output;
+			if(output != "b")
+				return false;
+			if(!IsNull(doc["c"]))
+				return false;
+			if(!IsNull(doc["d"]))
+				return false;
+
+			return true;
+		}
+
+		bool FlowMapWithSoloEntry()
+		{
+			std::string input = "{a: b, c, d: e}";
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			std::string output;
+			doc["a"] >> output;
+			if(output != "b")
+				return false;
+			if(!IsNull(doc["c"]))
+				return false;
+			doc["d"] >> output;
+			if(output != "e")
+				return false;
+			
+			return true;
+		}
+		
+		bool FlowMapEndingWithSoloEntry()
+		{
+			std::string input = "{a: b, c}";
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			std::string output;
+			doc["a"] >> output;
+			if(output != "b")
+				return false;
+			if(!IsNull(doc["c"]))
+				return false;
+			
+			return true;
+		}
+		
+		bool QuotedSimpleKeys()
+		{
+			std::string KeyValue[3] = { "\"double\": double\n", "'single': single\n", "plain: plain\n" };
+			
+			int perm[3] = { 0, 1, 2 };
+			do {
+				std::string input = KeyValue[perm[0]] + KeyValue[perm[1]] + KeyValue[perm[2]];
+
+				std::stringstream stream(input);
+				YAML::Parser parser(stream);
+				YAML::Node doc;
+				parser.GetNextDocument(doc);
+				
+				std::string output;
+				doc["double"] >> output;
+				if(output != "double")
+					return false;
+				doc["single"] >> output;
+				if(output != "single")
+					return false;
+				doc["plain"] >> output;
+				if(output != "plain")
+					return false;
+			} while(std::next_permutation(perm, perm + 3));
+				
+			return true;
+		}
+
+		bool CompressedMapAndSeq()
+		{
+			std::string input = "key:\n- one\n- two";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			const YAML::Node& seq = doc["key"];
+			if(seq.size() != 2)
+				return false;
+				
+			std::string output;
+			seq[0] >> output;
+			if(output != "one")
+				return false;
+			seq[1] >> output;
+			if(output != "two")
+				return false;
+
+			return true;
+		}
+
+		bool NullBlockSeqEntry()
+		{
+			std::string input = "- hello\n-\n- world";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			std::string output;
+			doc[0] >> output;
+			if(output != "hello")
+				return false;
+			if(!IsNull(doc[1]))
+				return false;
+			doc[2] >> output;
+			if(output != "world")
+				return false;
+			
+			return true;
+		}
+		
+		bool NullBlockMapKey()
+		{
+			std::string input = ": empty key";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			std::string output;
+			doc[YAML::Null] >> output;
+			if(output != "empty key")
+				return false;
+			
+			return true;
+		}
+		
+		bool NullBlockMapValue()
+		{
+			std::string input = "empty value:";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			if(!IsNull(doc["empty value"]))
+				return false;
+			
+			return true;
+		}
+
+		bool SimpleAlias()
+		{
+			std::string input = "- &alias test\n- *alias";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			std::string output;
+			doc[0] >> output;
+			if(output != "test")
+				return false;
+			
+			doc[1] >> output;
+			if(output != "test")
+				return false;
+			
+			if(doc.size() != 2)
+				return false;
+			
+			return true;
+		}
+		
+		bool AliasWithNull()
+		{
+			std::string input = "- &alias\n- *alias";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			if(!IsNull(doc[0]))
+				return false;
+			
+			if(!IsNull(doc[1]))
+				return false;
+			
+			if(doc.size() != 2)
+				return false;
+			
+			return true;
+		}
+
+		bool AnchorInSimpleKey()
+		{
+			std::string input = "- &a b: c\n- *a";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			if(doc.size() != 2)
+				return false;
+	
+			std::string output;
+			doc[0]["b"] >> output;
+			if(output != "c")
+				return false;
+			
+			doc[1] >> output;
+			if(output != "b")
+				return false;
+			
+			return true;
+		}
+		
+		bool AliasAsSimpleKey()
+		{
+			std::string input = "- &a b\n- *a: c";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+
+			if(doc.size() != 2)
+				return false;
+			
+			std::string output;
+			doc[0] >> output;
+			if(output != "b")
+				return false;
+			
+			doc[1]["b"] >> output;
+			if(output != "c")
+				return false;
+
+			return true;
+		}
+		
+		bool ExplicitDoc()
+		{
+			std::string input = "---\n- one\n- two";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			if(doc.size() != 2)
+				return false;
+			
+			std::string output;
+			doc[0] >> output;
+			if(output != "one")
+				return false;
+			doc[1] >> output;
+			if(output != "two")
+				return false;
+			
+			return true;
+		}
+
+		bool MultipleDocs()
+		{
+			std::string input = "---\nname: doc1\n---\nname: doc2";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+
+			std::string output;
+			doc["name"] >> output;
+			if(output != "doc1")
+				return false;
+			
+			if(!parser)
+				return false;
+			
+			parser.GetNextDocument(doc);
+			doc["name"] >> output;
+			if(output != "doc2")
+				return false;
+			
+			return true;
+		}
+		
+		bool ExplicitEndDoc()
+		{
+			std::string input = "- one\n- two\n...\n...";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			parser.GetNextDocument(doc);
+			
+			if(doc.size() != 2)
+				return false;
+			
+			std::string output;
+			doc[0] >> output;
+			if(output != "one")
+				return false;
+			doc[1] >> output;
+			if(output != "two")
+				return false;
+			
+			return true;
+		}
+		
+		bool MultipleDocsWithSomeExplicitIndicators()
+		{
+			std::string input =
+				"- one\n- two\n...\n"
+				"---\nkey: value\n...\n...\n"
+				"- three\n- four\n"
+				"---\nkey: value";
+			
+			std::stringstream stream(input);
+			YAML::Parser parser(stream);
+			YAML::Node doc;
+			std::string output;
+
+			parser.GetNextDocument(doc);
+			if(doc.size() != 2)
+				return false;
+			doc[0] >> output;
+			if(output != "one")
+				return false;
+			doc[1] >> output;
+			if(output != "two")
+				return false;
+			
+			parser.GetNextDocument(doc);
+			doc["key"] >> output;
+			if(output != "value")
+				return false;
+			
+			parser.GetNextDocument(doc);
+			if(doc.size() != 2)
+				return false;
+			doc[0] >> output;
+			if(output != "three")
+				return false;
+			doc[1] >> output;
+			if(output != "four")
+				return false;
+			
+			parser.GetNextDocument(doc);
+			doc["key"] >> output;
+			if(output != "value")
+				return false;
+			
+			return true;
+		}
+	}
+	
+	namespace {
+		void RunScalarParserTest(void (*test)(std::string&, std::string&), const std::string& name, int& passed, int& total) {
+			std::string error;
+			std::string inputScalar, desiredOutput;
+			std::string output;
+			bool ok = true;
+			try {
+				test(inputScalar, desiredOutput);
+				std::stringstream stream(inputScalar);
+				YAML::Parser parser(stream);
+				YAML::Node doc;
+				parser.GetNextDocument(doc);
+				doc >> output;
+			} catch(const YAML::Exception& e) {
+				ok = false;
+				error = e.msg;
+			}
+			if(ok && output == desiredOutput) {
+				passed++;
+			} else {
+				std::cout << "Parser test failed: " << name << "\n";
+				if(error != "")
+					std::cout << "Caught exception: " << error << "\n";
+				else {
+					std::cout << "Output:\n" << output << "<<<\n";
+					std::cout << "Desired output:\n" << desiredOutput << "<<<\n";
+				}
+			}
+			total++;
+		}
+
+		void RunParserTest(bool (*test)(), const std::string& name, int& passed, int& total) {
+			std::string error;
+			bool ok = true;
+			try {
+				ok = test();
+			} catch(const YAML::Exception& e) {
+				ok = false;
+				error = e.msg;
+			}
+			if(ok) {
+				passed++;
+			} else {
+				std::cout << "Parser test failed: " << name << "\n";
+				if(error != "")
+					std::cout << "Caught exception: " << error << "\n";
+			}
+			total++;
+		}
+
+		typedef void (*EncodingFn)(std::ostream&, int);
+
+		inline char Byte(int ch)
+		{
+			return static_cast<char>(static_cast<unsigned char>(static_cast<unsigned int>(ch)));
+		}
+
+		void EncodeToUtf8(std::ostream& stream, int ch)
+		{
+			if (ch <= 0x7F)
+			{
+				stream << Byte(ch);
+			}
+			else if (ch <= 0x7FF)
+			{
+				stream << Byte(0xC0 | (ch >> 6));
+				stream << Byte(0x80 | (ch & 0x3F));
+			}
+			else if (ch <= 0xFFFF)
+			{
+				stream << Byte(0xE0 | (ch >> 12));
+				stream << Byte(0x80 | ((ch >> 6) & 0x3F));
+				stream << Byte(0x80 | (ch & 0x3F));
+			}
+			else if (ch <= 0x1FFFFF)
+			{
+				stream << Byte(0xF0 | (ch >> 18));
+				stream << Byte(0x80 | ((ch >> 12) & 0x3F));
+				stream << Byte(0x80 | ((ch >> 6) & 0x3F));
+				stream << Byte(0x80 | (ch & 0x3F));
+			}
+		}
+
+		bool SplitUtf16HighChar(std::ostream& stream, EncodingFn encoding, int ch)
+		{
+			int biasedValue = ch - 0x10000;
+			if (biasedValue < 0)
+			{
+				return false;
+			}
+			int high = 0xD800 | (biasedValue >> 10);
+			int low  = 0xDC00 | (biasedValue & 0x3FF);
+			encoding(stream, high);
+			encoding(stream, low);
+			return true;
+		}
+
+		void EncodeToUtf16LE(std::ostream& stream, int ch)
+		{
+			if (!SplitUtf16HighChar(stream, &EncodeToUtf16LE, ch))
+			{
+				stream << Byte(ch & 0xFF) << Byte(ch >> 8);
+			}
+		}
+
+		void EncodeToUtf16BE(std::ostream& stream, int ch)
+		{
+			if (!SplitUtf16HighChar(stream, &EncodeToUtf16BE, ch))
+			{
+				stream << Byte(ch >> 8) << Byte(ch & 0xFF);
+			}
+		}
+
+		void EncodeToUtf32LE(std::ostream& stream, int ch)
+		{
+			stream << Byte(ch & 0xFF) << Byte((ch >> 8) & 0xFF) 
+				<< Byte((ch >> 16) & 0xFF) << Byte((ch >> 24) & 0xFF);
+		}
+
+		void EncodeToUtf32BE(std::ostream& stream, int ch)
+		{
+			stream << Byte((ch >> 24) & 0xFF) << Byte((ch >> 16) & 0xFF)
+				<< Byte((ch >> 8) & 0xFF) << Byte(ch & 0xFF);
+		}
+
+		class EncodingTester
+		{
+		public:
+			EncodingTester(EncodingFn encoding, bool declareEncoding)
+			{
+				if (declareEncoding)
+				{
+					encoding(m_yaml, 0xFEFF);
+				}
+
+				AddEntry(encoding, 0x0021, 0x007E); // Basic Latin
+				AddEntry(encoding, 0x00A1, 0x00FF); // Latin-1 Supplement
+				AddEntry(encoding, 0x0660, 0x06FF); // Arabic (largest contiguous block)
+
+				// CJK unified ideographs (multiple lines)
+				AddEntry(encoding, 0x4E00, 0x4EFF);
+				AddEntry(encoding, 0x4F00, 0x4FFF);
+				AddEntry(encoding, 0x5000, 0x51FF); // 512 character line
+				AddEntry(encoding, 0x5200, 0x54FF); // 768 character line
+				AddEntry(encoding, 0x5500, 0x58FF); // 1024 character line
+
+				AddEntry(encoding, 0x103A0, 0x103C3); // Old Persian
+
+				m_yaml.seekg(0, std::ios::beg);
+			}
+
+			std::istream& stream() {return m_yaml;}
+			const std::vector<std::string>& entries() {return m_entries;}
+
+		private:
+			std::stringstream m_yaml;
+			std::vector<std::string> m_entries;
+
+			void AddEntry(EncodingFn encoding, int startCh, int endCh)
+			{
+				encoding(m_yaml, '-');
+				encoding(m_yaml, ' ');
+				encoding(m_yaml, '|');
+				encoding(m_yaml, '\n');
+				encoding(m_yaml, ' ');
+				encoding(m_yaml, ' ');
+
+				std::stringstream entry;
+				for (int ch = startCh; ch <= endCh; ++ch)
+				{
+					encoding(m_yaml, ch);
+					EncodeToUtf8(entry, ch);
+				}
+				encoding(m_yaml, '\n');
+
+				m_entries.push_back(entry.str());
+			}
+		};
+
+		void RunEncodingTest(EncodingFn encoding, bool declareEncoding, const std::string& name, int& passed, int& total)
+		{
+			EncodingTester tester(encoding, declareEncoding);
+			std::string error;
+			bool ok = true;
+			try {
+				YAML::Parser parser(tester.stream());
+				YAML::Node doc;
+				parser.GetNextDocument(doc);
+
+				YAML::Iterator itNode = doc.begin();
+				std::vector<std::string>::const_iterator itEntry = tester.entries().begin();
+				for (; (itNode != doc.end()) && (itEntry != tester.entries().end()); ++itNode, ++itEntry)
+				{
+					std::string stScalarValue;
+					if (!itNode->GetScalar(stScalarValue) && (stScalarValue == *itEntry))
+					{
+						break;
+					}
+				}
+
+				if ((itNode != doc.end()) || (itEntry != tester.entries().end()))
+				{
+					ok = false;
+				}
+			} catch(const YAML::Exception& e) {
+				ok = false;
+				error = e.msg;
+			}
+			if(ok) {
+				passed++;
+			} else {
+				std::cout << "Parser test failed: " << name << "\n";
+				if(error != "")
+					std::cout << "Caught exception: " << error << "\n";
+			}
+			total++;
+		}
+	}
+
+	bool RunParserTests()
+	{
+		int passed = 0;
+		int total = 0;
+		RunScalarParserTest(&Parser::SimpleScalar, "simple scalar", passed, total);
+		RunScalarParserTest(&Parser::MultiLineScalar, "multi-line scalar", passed, total);
+		RunScalarParserTest(&Parser::LiteralScalar, "literal scalar", passed, total);
+		RunScalarParserTest(&Parser::FoldedScalar, "folded scalar", passed, total);
+		RunScalarParserTest(&Parser::ChompedFoldedScalar, "chomped folded scalar", passed, total);
+		RunScalarParserTest(&Parser::ChompedLiteralScalar, "chomped literal scalar", passed, total);
+		RunScalarParserTest(&Parser::FoldedScalarWithIndent, "folded scalar with indent", passed, total);
+		RunScalarParserTest(&Parser::ColonScalar, "colon scalar", passed, total);
+		RunScalarParserTest(&Parser::QuotedScalar, "quoted scalar", passed, total);
+		RunScalarParserTest(&Parser::CommaScalar, "comma scalar", passed, total);
+		RunScalarParserTest(&Parser::DashScalar, "dash scalar", passed, total);
+		RunScalarParserTest(&Parser::URLScalar, "url scalar", passed, total);
+
+		RunParserTest(&Parser::SimpleSeq, "simple seq", passed, total);
+		RunParserTest(&Parser::SimpleMap, "simple map", passed, total);
+		RunParserTest(&Parser::FlowSeq, "flow seq", passed, total);
+		RunParserTest(&Parser::FlowMap, "flow map", passed, total);
+		RunParserTest(&Parser::FlowMapWithOmittedKey, "flow map with omitted key", passed, total);
+		RunParserTest(&Parser::FlowMapWithOmittedValue, "flow map with omitted value", passed, total);
+		RunParserTest(&Parser::FlowMapWithSoloEntry, "flow map with solo entry", passed, total);
+		RunParserTest(&Parser::FlowMapEndingWithSoloEntry, "flow map ending with solo entry", passed, total);
+		RunParserTest(&Parser::QuotedSimpleKeys, "quoted simple keys", passed, total);
+		RunParserTest(&Parser::CompressedMapAndSeq, "compressed map and seq", passed, total);
+		RunParserTest(&Parser::NullBlockSeqEntry, "null block seq entry", passed, total);
+		RunParserTest(&Parser::NullBlockMapKey, "null block map key", passed, total);
+		RunParserTest(&Parser::NullBlockMapValue, "null block map value", passed, total);
+		RunParserTest(&Parser::SimpleAlias, "simple alias", passed, total);
+		RunParserTest(&Parser::AliasWithNull, "alias with null", passed, total);
+		RunParserTest(&Parser::AnchorInSimpleKey, "anchor in simple key", passed, total);
+		RunParserTest(&Parser::AliasAsSimpleKey, "alias as simple key", passed, total);
+		RunParserTest(&Parser::ExplicitDoc, "explicit doc", passed, total);
+		RunParserTest(&Parser::MultipleDocs, "multiple docs", passed, total);
+		RunParserTest(&Parser::ExplicitEndDoc, "explicit end doc", passed, total);
+		RunParserTest(&Parser::MultipleDocsWithSomeExplicitIndicators, "multiple docs with some explicit indicators", passed, total);
+		
+		RunEncodingTest(&EncodeToUtf8, false, "UTF-8, no BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf8, true, "UTF-8 with BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf16LE, false, "UTF-16LE, no BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf16LE, true, "UTF-16LE with BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf16BE, false, "UTF-16BE, no BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf16BE, true, "UTF-16BE with BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf32LE, false, "UTF-32LE, no BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf32LE, true, "UTF-32LE with BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf32BE, false, "UTF-32BE, no BOM", passed, total);
+		RunEncodingTest(&EncodeToUtf32BE, true, "UTF-32BE with BOM", passed, total);
+
+		std::cout << "Parser tests: " << passed << "/" << total << " passed\n";
+		return passed == total;
+	}
+}
+

tools/rosdep/yaml-cpp/yaml-reader/parsertests.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#ifndef PARSERTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define PARSERTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+namespace Test {
+	bool RunParserTests();
+}
+
+#endif // PARSERTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+

tools/rosdep/yaml-cpp/yaml-reader/spectests.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#ifndef SPECTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define SPECTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+namespace Test {
+	bool RunSpecTests();
+}
+
+#endif // SPECTESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+

tools/rosdep/yaml-cpp/yaml-reader/tests.cpp

@@ -0,0 +1,29 @@
+#include "tests.h"
+#include "emittertests.h"
+#include "parsertests.h"
+#include "spectests.h"
+#include "yaml.h"
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include <iostream>
+
+namespace Test
+{
+	void RunAll()
+	{
+		bool passed = true;
+		if(!RunParserTests())
+			passed = false;
+			
+		if(!RunEmitterTests())
+			passed = false;
+
+		if(!RunSpecTests())
+			passed = false;
+		
+		if(passed)
+			std::cout << "All tests passed!\n";
+	}
+}
+

tools/rosdep/yaml-cpp/yaml-reader/tests.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#ifndef TESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define TESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#include <string>
+
+namespace Test {
+	void RunAll();
+
+	namespace Parser {
+		// scalar tests
+		void SimpleScalar(std::string& inputScalar, std::string& desiredOutput);
+		void MultiLineScalar(std::string& inputScalar, std::string& desiredOutput);
+		void LiteralScalar(std::string& inputScalar, std::string& desiredOutput);
+		void FoldedScalar(std::string& inputScalar, std::string& desiredOutput);
+		void ChompedFoldedScalar(std::string& inputScalar, std::string& desiredOutput);
+		void ChompedLiteralScalar(std::string& inputScalar, std::string& desiredOutput);
+		void FoldedScalarWithIndent(std::string& inputScalar, std::string& desiredOutput);
+		void ColonScalar(std::string& inputScalar, std::string& desiredOutput);
+		void QuotedScalar(std::string& inputScalar, std::string& desiredOutput);
+		void CommaScalar(std::string& inputScalar, std::string& desiredOutput);
+		void DashScalar(std::string& inputScalar, std::string& desiredOutput);
+		void URLScalar(std::string& inputScalar, std::string& desiredOutput);
+
+		// misc tests
+		bool SimpleSeq();
+		bool SimpleMap();
+		bool FlowSeq();
+		bool FlowMap();
+		bool FlowMapWithOmittedKey();
+		bool FlowMapWithOmittedValue();
+		bool FlowMapWithSoloEntry();
+		bool FlowMapEndingWithSoloEntry();
+		bool QuotedSimpleKeys();
+		bool CompressedMapAndSeq();
+		bool NullBlockSeqEntry();
+		bool NullBlockMapKey();
+		bool NullBlockMapValue();
+		bool SimpleAlias();
+		bool AliasWithNull();
+		bool AnchorInSimpleKey();
+		bool AliasAsSimpleKey();
+		bool ExplicitDoc();
+		bool MultipleDocs();
+		bool ExplicitEndDoc();
+		bool MultipleDocsWithSomeExplicitIndicators();
+	}
+}
+
+#endif // TESTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66

tools/rosdep/yaml-cpp/yaml-reader/tests/aliased.yaml

@@ -0,0 +1,4 @@
+--- &list
+- This document contains a recursive list.
+- *list
+...

tools/rosdep/yaml-cpp/yamlcpp.sln

@@ -0,0 +1,29 @@
+
+Microsoft Visual Studio Solution File, Format Version 10.00
+# Visual Studio 2008
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "yaml-reader", "yaml-reader.vcproj", "{E8CC0D8A-D784-4A6B-B78B-ACEA13F9FB0B}"
+	ProjectSection(ProjectDependencies) = postProject
+		{3104AB4E-CD31-4F47-95E9-0E8D9374E15D} = {3104AB4E-CD31-4F47-95E9-0E8D9374E15D}
+	EndProjectSection
+EndProject
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+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{E8CC0D8A-D784-4A6B-B78B-ACEA13F9FB0B}.Debug|Win32.ActiveCfg = Debug|Win32
+		{E8CC0D8A-D784-4A6B-B78B-ACEA13F9FB0B}.Debug|Win32.Build.0 = Debug|Win32
+		{E8CC0D8A-D784-4A6B-B78B-ACEA13F9FB0B}.Release|Win32.ActiveCfg = Release|Win32
+		{E8CC0D8A-D784-4A6B-B78B-ACEA13F9FB0B}.Release|Win32.Build.0 = Release|Win32
+		{3104AB4E-CD31-4F47-95E9-0E8D9374E15D}.Debug|Win32.ActiveCfg = Debug|Win32
+		{3104AB4E-CD31-4F47-95E9-0E8D9374E15D}.Debug|Win32.Build.0 = Debug|Win32
+		{3104AB4E-CD31-4F47-95E9-0E8D9374E15D}.Release|Win32.ActiveCfg = Release|Win32
+		{3104AB4E-CD31-4F47-95E9-0E8D9374E15D}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

tools/rosdep/yaml-cpp/yamlcpp.vcproj

@@ -0,0 +1,419 @@
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