text: ///////////////////////////////////////////////////////////////////////////////
  // Copyright (C) 2013, PAL Robotics S.L.
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are met:
  //   * Redistributions of source code must retain the above copyright notice,
  //     this list of conditions and the following disclaimer.
  //   * Redistributions in binary form must reproduce the above copyright
  //     notice, this list of conditions and the following disclaimer in the
  //     documentation and/or other materials provided with the distribution.
  //   * Neither the name of hiDOF, Inc. nor the names of its
  //     contributors may be used to endorse or promote products derived from
  //     this software without specific prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  // POSSIBILITY OF SUCH DAMAGE.
  //////////////////////////////////////////////////////////////////////////////
  
  /// \author Adolfo Rodriguez Tsouroukdissian
  
  #pragma once
  
  
  #include <cstdlib>
  #include <string>
  
  #if (__GNUC__ && __cplusplus && __GNUC__ >= 3)
  #include <cxxabi.h>
  #endif
  
  namespace hardware_interface
  {
  namespace internal
  {
  
  /**
   * \brief Demangle symbol, if symbol demangling is available.
   * \param name Symbol to demangle.
   * \return Demangled symbol if demangling is available and successful, mangled symbol otherwise.
   */
  inline std::string demangleSymbol(const char* name)
  {
    #if (__GNUC__ && __cplusplus && __GNUC__ >= 3)
      int         status;
      char* res = abi::__cxa_demangle(name, nullptr, nullptr, &status);
      if (res)
      {
        const std::string demangled_name(res);
        std::free(res);
        return demangled_name;
      }
      // Demangling failed, fallback to mangled name
      return std::string(name);
    #else
      return std::string(name);
    #endif
  }
  
  /**
   * \brief Convenience method for demangling type names.
   * \sa demangleSymbol
   */
  template <class T>
  inline std::string demangledTypeName()
  {
    return demangleSymbol(typeid(T).name());
  }
  
  /**
  * \brief Convenience method for demangling type names.
  * \sa demangleSymbol
  */
  template <class T>
  inline std::string demangledTypeName(const T& val)
  {
    return demangleSymbol(typeid(val).name());
  }
  
  }
  
  }
  