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diff --git a/src/vrep-inl.h b/src/vrep-inl.h
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+/* vrep-inl.h -- convenience code to interface with V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_INL_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_INL_H_
+
+namespace vrep {
+
+    // class InterfaceLockGuard
+
+    InterfaceLockGuard::InterfaceLockGuard() {
+        lock();
+    }
+
+    InterfaceLockGuard::InterfaceLockGuard(const InterfaceLockGuard &other) {
+        copyState(other);
+    }
+
+    InterfaceLockGuard &InterfaceLockGuard::operator=(
+        const InterfaceLockGuard &other) {
+        copyState(other);
+        return *this;
+    }
+
+    InterfaceLockGuard::InterfaceLockGuard(InterfaceLockGuard &&other) {
+        moveState(other);
+    }
+
+    InterfaceLockGuard &InterfaceLockGuard::operator=(
+        InterfaceLockGuard &&other) {
+        moveState(other);
+        return *this;
+    }
+
+    void InterfaceLockGuard::lock() {
+        VREP(simLockInterface(true));
+        isLocked = true;
+    }
+
+    void InterfaceLockGuard::unlock() {
+        VREP(simLockInterface(false));
+        isLocked = false;
+    }
+
+
+    // class Error
+
+    Error::Error(const std::string &whatArg)
+        : std::runtime_error(whatArg) {
+    }
+
+    Error::Error(const char *whatArg)
+        : Error(std::string(whatArg)) {
+    }
+
+
+    // template<typename T> class FunctionError<T>
+
+    template<typename T>
+    FunctionError<T>::FunctionError(const std::string &invocation,
+                                        const T result)
+        : Error("V-REP function invocation "
+                + invocation
+                + " failed, returning "
+                + std::to_string(result)) {
+    }
+
+    template<typename T>
+    FunctionError<T>::FunctionError(const char *invocation, const T result)
+        : FunctionError(std::string(invocation), result) {
+    }
+
+
+    // template<typename T> T checkFunction(T, const char[])
+
+    template<typename T>
+    T checkFunction(T result, const char invocation[]) {
+        if (isSuccess(result)) {
+            return result;
+        } else {
+            throw vrep::FunctionError<T>(invocation, result);
+        }
+    }
+
+
+    // template<typename T> bool isSuccess(const T)
+
+    template<>
+    bool isSuccess(const simInt val) {
+        return val != -1;
+    }
+
+    template<>
+    bool isSuccess(const simVoid *const val) {
+        return val != nullptr;
+    }
+
+}
+
+#endif
+