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Fix smart pointers #1

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Fix smart pointers #1

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18 changes: 9 additions & 9 deletions source/dbrt/kinematics_from_urdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ KinematicsFromURDF::KinematicsFromURDF(

// create segment map for correct ordering of joints
segment_map_ = kin_tree_.getSegments();
boost::shared_ptr<const urdf::Joint> joint;
std::shared_ptr<const urdf::Joint> joint;
joint_map_.resize(kin_tree_.getNrOfJoints());
for (KDL::SegmentMap::const_iterator seg_it = segment_map_.begin();
seg_it != segment_map_.end();
Expand Down Expand Up @@ -145,7 +145,7 @@ void KinematicsFromURDF::inject_offset_joints_and_links(
for (int i = 0; i < dofs.size(); ++i)
{
// construct joint
auto joint = boost::make_shared<urdf::Joint>();
auto joint = std::make_shared<urdf::Joint>();
joint->name = dofs[i] + "_JOINT";
joint->type = i < 3 ? urdf::Joint::PRISMATIC : urdf::Joint::REVOLUTE;
joint->axis.x = double(i == 0 || i == 3);
Expand All @@ -163,7 +163,7 @@ void KinematicsFromURDF::inject_offset_joints_and_links(
// last dof has no link
if (i > 4) continue;

auto link = boost::make_shared<urdf::Link>();
auto link = std::make_shared<urdf::Link>();
link->name = dofs[i] + "_LINK";
link->parent_joint = joint;

Expand All @@ -177,7 +177,7 @@ void KinematicsFromURDF::inject_offset_joints_and_links(
camera_root_link->child_links.push_back(urdf.links_[dofs[0] + "_LINK"]);

// add leaf original camera frame
auto camera_leaf_link = boost::make_shared<urdf::Link>();
auto camera_leaf_link = std::make_shared<urdf::Link>();
camera_leaf_link->name = camera_frame;
camera_leaf_link->parent_joint = urdf.joints_[dofs[5] + "_JOINT"];
urdf.links_[camera_frame] = camera_leaf_link;
Expand Down Expand Up @@ -208,16 +208,16 @@ KinematicsFromURDF::~KinematicsFromURDF()
}

void KinematicsFromURDF::get_part_meshes(
std::vector<boost::shared_ptr<PartMeshModel>>& part_meshes)
std::vector<std::shared_ptr<PartMeshModel>>& part_meshes)
{
// Load robot mesh for each link
std::vector<boost::shared_ptr<urdf::Link>> links;
std::vector<std::shared_ptr<urdf::Link>> links;
urdf_.getLinks(links);
std::string global_root = urdf_.getRoot()->name;
for (unsigned i = 0; i < links.size(); i++)
{
// keep only the links descending from our root
boost::shared_ptr<urdf::Link> tmp_link = links[i];
std::shared_ptr<urdf::Link> tmp_link = links[i];
while (tmp_link->name.compare(rendering_root_left_) == 0 &&
tmp_link->name.compare(rendering_root_right_) == 0 &&
tmp_link->name.compare(global_root) == 0)
Expand All @@ -227,7 +227,7 @@ void KinematicsFromURDF::get_part_meshes(

if (tmp_link->name.compare(global_root) == 0) continue;

boost::shared_ptr<PartMeshModel> part_ptr(
std::shared_ptr<PartMeshModel> part_ptr(
new PartMeshModel(links[i], description_path_, i, false));

if (part_ptr->proper_) // if the link has an actual mesh file to read
Expand Down Expand Up @@ -313,7 +313,7 @@ void KinematicsFromURDF::print_joints()

void KinematicsFromURDF::print_links()
{
std::vector<boost::shared_ptr<urdf::Link>> links;
std::vector<std::shared_ptr<urdf::Link>> links;
urdf_.getLinks(links);

std::cout << "robot links: " << std::endl;
Expand Down
2 changes: 1 addition & 1 deletion source/dbrt/kinematics_from_urdf.h
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Expand Up @@ -57,7 +57,7 @@ class KinematicsFromURDF

std::vector<int> get_joint_order(const sensor_msgs::JointState& state);
void get_part_meshes(
std::vector<boost::shared_ptr<PartMeshModel>>& part_meshes);
std::vector<std::shared_ptr<PartMeshModel>>& part_meshes);
KDL::Tree get_tree();

int num_joints();
Expand Down
18 changes: 9 additions & 9 deletions source/dbrt/part_mesh_model.h
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Expand Up @@ -56,7 +56,7 @@
class PartMeshModel
{
public:
PartMeshModel(const boost::shared_ptr<urdf::Link> p_link,
PartMeshModel(const std::shared_ptr<urdf::Link> p_link,
const std::string& p_description_path,
unsigned p_index,
bool collision)
Expand All @@ -67,7 +67,7 @@ class PartMeshModel
indices_(new std::vector<std::vector<int>>)
{
// get link shape and origin -------------------------------------------
boost::shared_ptr<urdf::Geometry> geometry;
std::shared_ptr<urdf::Geometry> geometry;
urdf::Pose origin;
if(collision && link_->collision)
{
Expand All @@ -85,8 +85,8 @@ class PartMeshModel
}

// get mesh path -------------------------------------------------------
boost::shared_ptr<urdf::Mesh> mesh =
boost::dynamic_pointer_cast<urdf::Mesh>(geometry);
std::shared_ptr<urdf::Mesh> mesh =
std::dynamic_pointer_cast<urdf::Mesh>(geometry);
boost::filesystem::path filename(mesh->filename);
filename_ = filename.string();

Expand Down Expand Up @@ -147,7 +147,7 @@ class PartMeshModel
proper_ = true;
}

boost::shared_ptr<std::vector<Eigen::Vector3d>> get_vertices()
std::shared_ptr<std::vector<Eigen::Vector3d>> get_vertices()
{
const struct aiMesh* mesh = scene_->mMeshes[0];
unsigned num_vertices = mesh->mNumVertices;
Expand All @@ -163,7 +163,7 @@ class PartMeshModel
return vertices_;
}

boost::shared_ptr<std::vector<std::vector<int>>> get_indices()
std::shared_ptr<std::vector<std::vector<int>>> get_indices()
{
const struct aiMesh* mesh = scene_->mMeshes[0];
unsigned num_faces = mesh->mNumFaces;
Expand Down Expand Up @@ -193,12 +193,12 @@ class PartMeshModel
bool proper_;

private:
const boost::shared_ptr<urdf::Link> link_;
const std::shared_ptr<urdf::Link> link_;
const struct aiScene* scene_;
unsigned numFaces_;

boost::shared_ptr<std::vector<Eigen::Vector3d>> vertices_;
boost::shared_ptr<std::vector<std::vector<int>>> indices_;
std::shared_ptr<std::vector<Eigen::Vector3d>> vertices_;
std::shared_ptr<std::vector<std::vector<int>>> indices_;

Eigen::Affine3d original_transform_;

Expand Down
2 changes: 1 addition & 1 deletion source/dbrt/urdf_object_loader.cpp
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Expand Up @@ -33,7 +33,7 @@ void UrdfObjectModelLoader::load(
std::vector<std::vector<Eigen::Vector3d>>& vertices,
std::vector<std::vector<std::vector<int>>>& triangle_indices) const
{
std::vector<boost::shared_ptr<PartMeshModel>> part_meshes_;
std::vector<std::shared_ptr<PartMeshModel>> part_meshes_;
urdf_kinematics_->get_part_meshes(part_meshes_);

if(part_meshes_.size() == 0)
Expand Down
2 changes: 1 addition & 1 deletion source/dbrt/util/robot_emulator.h
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Expand Up @@ -82,7 +82,7 @@ class RobotEmulator
// camera publisher
pub_camera_info_ = node_handle_.advertise<sensor_msgs::CameraInfo>(
prefix + "/XTION/depth/camera_info", 0);
boost::shared_ptr<image_transport::ImageTransport> it(
std::shared_ptr<image_transport::ImageTransport> it(
new image_transport::ImageTransport(node_handle_));
pub_depth_image_ = it->advertise(prefix + "/XTION/depth/image", 0);
}
Expand Down