diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp
index e872c5c03e3415cabb28ad66289627c85db6d85e..07aba80d45c4160f2272d8ae7b13a49027fc5d70 100644
--- a/src/examples/solver/test_iQR_wolf2.cpp
+++ b/src/examples/solver/test_iQR_wolf2.cpp
@@ -165,10 +165,10 @@ int main(int argc, char *argv[])
Eigen::Vector4s laser_1_pose, laser_2_pose; //xyz + theta
laser_1_pose << 1.2, 0, 0, 0; //laser 1
laser_2_pose << -1.2, 0, 0, M_PI; //laser 2
- SensorOdom2D odom_sensor(new StateBlock(odom_pose.head(2)), new StateBlock(odom_pose.tail(1)), odom_std_factor, odom_std_factor);
- SensorGPSFix gps_sensor(new StateBlock(gps_pose.head(2)), new StateBlock(gps_pose.tail(1)), gps_std);
- SensorLaser2D laser_1_sensor(new StateBlock(laser_1_pose.head(2)), new StateBlock(laser_1_pose.tail(1)), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
- SensorLaser2D laser_2_sensor(new StateBlock(laser_2_pose.head(2)), new StateBlock(laser_2_pose.tail(1)), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
+ SensorOdom2D odom_sensor(std::make_shared<StateBlock>(odom_pose.head(2)), std::make_shared<StateBlock>(odom_pose.tail(1)), odom_std_factor, odom_std_factor);
+ SensorGPSFix gps_sensor(std::make_shared<StateBlock>(gps_pose.head(2)), std::make_shared<StateBlock>(gps_pose.tail(1)), gps_std);
+ SensorLaser2D laser_1_sensor(std::make_shared<StateBlock>(laser_1_pose.head(2)), std::make_shared<StateBlock>(laser_1_pose.tail(1)), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
+ SensorLaser2D laser_2_sensor(std::make_shared<StateBlock>(laser_2_pose.head(2)), std::make_shared<StateBlock>(laser_2_pose.tail(1)), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
// Initial pose
pose_odom << 2, 8, 0;
diff --git a/src/examples/test_analytic_odom_constraint.cpp b/src/examples/test_analytic_odom_constraint.cpp
index 26234f4fdd435a2cd9b9d6907d16e52285ad433e..08fa577a1ad63a20eb1624076cb4065ad58faff8 100644
--- a/src/examples/test_analytic_odom_constraint.cpp
+++ b/src/examples/test_analytic_odom_constraint.cpp
@@ -61,7 +61,7 @@ int main(int argc, char** argv)
// Wolf problem
ProblemPtr wolf_problem_autodiff = new Problem(FRM_PO_2D);
ProblemPtr wolf_problem_analytic = new Problem(FRM_PO_2D);
- SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", new StateBlock(Eigen::VectorXs::Zero(2)), new StateBlock(Eigen::VectorXs::Zero(1)), new StateBlock(Eigen::VectorXs::Zero(2)), 2);
+ SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
// Ceres wrapper
ceres::Solver::Options ceres_options;
@@ -128,8 +128,8 @@ int main(int argc, char** argv)
bNum.clear();
// add frame to problem
- FrameBasePtr vertex_frame_ptr_autodiff = new FrameBase(TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
- FrameBasePtr vertex_frame_ptr_analytic = new FrameBase(TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_autodiff = new FrameBase(TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_analytic = new FrameBase(TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
wolf_problem_autodiff->getTrajectoryPtr()->addFrame(vertex_frame_ptr_autodiff);
wolf_problem_analytic->getTrajectoryPtr()->addFrame(vertex_frame_ptr_analytic);
// store
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index 24362aab4540b867ad7b12826b1e8b5061e5c908..c027f9fcc6bf273a469cf1007cbbf643b44c0ae6 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -121,10 +121,10 @@ int main(int argc, char** argv)
Eigen::Vector4s laser_1_pose, laser_2_pose; //xyz + theta
laser_1_pose << 1.2, 0, 0, 0; //laser 1
laser_2_pose << -1.2, 0, 0, M_PI; //laser 2
- SensorOdom2D odom_sensor(new StateBlock(odom_pose.head(2)), new StateBlock(odom_pose.tail(1)), odom_std_factor, odom_std_factor);
- SensorGPSFix gps_sensor(new StateBlock(gps_pose.head(2)), new StateBlock(gps_pose.tail(1)), gps_std);
- SensorLaser2D laser_1_sensor(new StateBlock(laser_1_pose.head(2)), new StateBlock(laser_1_pose.tail(1)));
- SensorLaser2D laser_2_sensor(new StateBlock(laser_2_pose.head(2)), new StateBlock(laser_2_pose.tail(1)));
+ SensorOdom2D odom_sensor(std::make_shared<StateBlock>(odom_pose.head(2)), std::make_shared<StateBlock>(odom_pose.tail(1)), odom_std_factor, odom_std_factor);
+ SensorGPSFix gps_sensor(std::make_shared<StateBlock>(gps_pose.head(2)), std::make_shared<StateBlock>(gps_pose.tail(1)), gps_std);
+ SensorLaser2D laser_1_sensor(std::make_shared<StateBlock>(laser_1_pose.head(2)), std::make_shared<StateBlock>(laser_1_pose.tail(1)));
+ SensorLaser2D laser_2_sensor(std::make_shared<StateBlock>(laser_2_pose.head(2)), std::make_shared<StateBlock>(laser_2_pose.tail(1)));
laser_1_sensor.addProcessor(new ProcessorLaser2D());
laser_2_sensor.addProcessor(new ProcessorLaser2D());
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index 0163633793e5d983c62bc2c79fa03c3f08fc8e82..1bc45cf0b426419809ebe442f82801b616d1452c 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -221,10 +221,10 @@ int main(int argc, char** argv)
laser_2_pose << -1.2, 0, 0, M_PI; //laser 2
Problem problem(FRM_PO_2D);
- SensorOdom2D* odom_sensor = new SensorOdom2D(new StateBlock(odom_pose.head(2), true), new StateBlock(odom_pose.tail(1), true), odom_std_factor, odom_std_factor);
- SensorGPSFix* gps_sensor = new SensorGPSFix(new StateBlock(gps_pose.head(2), true), new StateBlock(gps_pose.tail(1), true), gps_std);
- SensorLaser2D* laser_1_sensor = new SensorLaser2D(new StateBlock(laser_1_pose.head(2), true), new StateBlock(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
- SensorLaser2D* laser_2_sensor = new SensorLaser2D(new StateBlock(laser_2_pose.head(2), true), new StateBlock(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
+ SensorOdom2D* odom_sensor = new SensorOdom2D(std::make_shared<StateBlock>(odom_pose.head(2), true), std::make_shared<StateBlock>(odom_pose.tail(1), true), odom_std_factor, odom_std_factor);
+ SensorGPSFix* gps_sensor = new SensorGPSFix(std::make_shared<StateBlock>(gps_pose.head(2), true), std::make_shared<StateBlock>(gps_pose.tail(1), true), gps_std);
+ SensorLaser2D* laser_1_sensor = new SensorLaser2D(std::make_shared<StateBlock>(laser_1_pose.head(2), true), std::make_shared<StateBlock>(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
+ SensorLaser2D* laser_2_sensor = new SensorLaser2D(std::make_shared<StateBlock>(laser_2_pose.head(2), true), std::make_shared<StateBlock>(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
ProcessorTrackerLandmarkCorner* laser_1_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2}), 3, 10);
ProcessorTrackerLandmarkCorner* laser_2_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2}), 3, 10);
ProcessorOdom2D* odom_processor = new ProcessorOdom2D(1,1,100);
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp
index b42b4da08805331c5324004a7aeb3bcfabfd1261..b2be568b0bd2fca63d110a178dbed35660e3d8f0 100644
--- a/src/examples/test_ceres_2_lasers_polylines.cpp
+++ b/src/examples/test_ceres_2_lasers_polylines.cpp
@@ -221,10 +221,10 @@ int main(int argc, char** argv)
laser_2_pose << -1.2, 0, 0, M_PI; //laser 2
Problem problem(FRM_PO_2D);
- SensorOdom2D* odom_sensor = new SensorOdom2D(new StateBlock(odom_pose.head(2), true), new StateBlock(odom_pose.tail(1), true), odom_std_factor, odom_std_factor);
- SensorGPSFix* gps_sensor = new SensorGPSFix(new StateBlock(gps_pose.head(2), true), new StateBlock(gps_pose.tail(1), true), gps_std);
- SensorLaser2D* laser_1_sensor = new SensorLaser2D(new StateBlock(laser_1_pose.head(2), true), new StateBlock(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
- SensorLaser2D* laser_2_sensor = new SensorLaser2D(new StateBlock(laser_2_pose.head(2), true), new StateBlock(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
+ SensorOdom2D* odom_sensor = new SensorOdom2D(std::make_shared<StateBlock>(odom_pose.head(2), true), std::make_shared<StateBlock>(odom_pose.tail(1), true), odom_std_factor, odom_std_factor);
+ SensorGPSFix* gps_sensor = new SensorGPSFix(std::make_shared<StateBlock>(gps_pose.head(2), true), std::make_shared<StateBlock>(gps_pose.tail(1), true), gps_std);
+ SensorLaser2D* laser_1_sensor = new SensorLaser2D(std::make_shared<StateBlock>(laser_1_pose.head(2), true), std::make_shared<StateBlock>(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
+ SensorLaser2D* laser_2_sensor = new SensorLaser2D(std::make_shared<StateBlock>(laser_2_pose.head(2), true), std::make_shared<StateBlock>(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
wolf::ProcessorParamsPolyline laser_processor_params;
laser_processor_params.line_finder_params = laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2});
diff --git a/src/examples/test_constraint_AHP.cpp b/src/examples/test_constraint_AHP.cpp
index 5e79a6cae3de4521604cc8882d9223036583b353..991380bc0e54f973a699e7971f13e205974304a3 100644
--- a/src/examples/test_constraint_AHP.cpp
+++ b/src/examples/test_constraint_AHP.cpp
@@ -55,7 +55,7 @@ int main()
frame_pos_ori[6] = 0.83666; //qw
const Eigen::VectorXs frame_val = frame_pos_ori;
- FrameBasePtr last_frame = std::make_shared<FrameBase>(t,new StateBlock(frame_val.head(3)), new StateQuaternion(frame_val.tail(4)));
+ FrameBasePtr last_frame = std::make_shared<FrameBase>(t,std::make_shared<StateBlock>(frame_val.head(3)), std::make_shared<StateQuaternion>(frame_val.tail(4)));
std::cout << "Last frame" << std::endl;
wolf_problem_ptr_->getTrajectoryPtr()->addFrame(last_frame);
@@ -75,7 +75,7 @@ int main()
std::shared_ptr<FeaturePointImage> feat_point_image_ptr = std::make_shared<FeaturePointImage>(kp, desc, Eigen::Matrix2s::Identity());
image_ptr->addFeature(feat_point_image_ptr);
- FrameBasePtr anchor_frame = std::make_shared< FrameBase>(t,new StateBlock(frame_val.head(3)), new StateQuaternion(frame_val.tail(4)));
+ FrameBasePtr anchor_frame = std::make_shared< FrameBase>(t,std::make_shared<StateBlock>(frame_val.head(3)), std::make_shared<StateQuaternion>(frame_val.tail(4)));
//FrameBasePtr anchor_frame = wolf_problem_ptr_->getTrajectoryPtr()->getLastFramePtr();
diff --git a/src/examples/test_image.cpp b/src/examples/test_image.cpp
index 7494922ef5db788e39ba3920c77b833587dff890..c1cad9a1cd363ced31fae9d616413dc712d4b452 100644
--- a/src/examples/test_image.cpp
+++ b/src/examples/test_image.cpp
@@ -81,9 +81,9 @@ int main(int argc, char** argv)
// // SENSOR
// Eigen::Vector4s k = {320,240,320,320};
- // SensorCamera* sen_cam_ = new SensorCamera(new StateBlock(Eigen::Vector3s::Zero()),
- // new StateBlock(Eigen::Vector3s::Zero()),
- // new StateBlock(k,false),img_width,img_height);
+ // SensorCamera* sen_cam_ = new SensorCamera(std::make_shared<StateBlock>(Eigen::Vector3s::Zero()),
+ // std::make_shared<StateBlock>(Eigen::Vector3s::Zero()),
+ // std::make_shared<StateBlock>(k,false),img_width,img_height);
//
// wolf_problem_->getHardwarePtr()->addSensor(sen_cam_);
//
diff --git a/src/examples/test_motion_2d.cpp b/src/examples/test_motion_2d.cpp
index 0fa0ee6b2cb09c5fed1b5614698b350bd0e50191..55a017c7190ec2896c4fd14f6efcda251dfbd657 100644
--- a/src/examples/test_motion_2d.cpp
+++ b/src/examples/test_motion_2d.cpp
@@ -51,9 +51,9 @@ int main()
// Create Wolf tree nodes
ProblemPtr problem_ptr = std::make_shared<Problem>(FRM_PO_2D);
- SensorBasePtr sensor_odom_ptr = std::make_shared< SensorBase>(SEN_ODOM_2D, "ODOM 2D", new StateBlock(Eigen::Vector2s::Zero(), true),
- new StateBlock(Eigen::Vector1s::Zero(), true),
- new StateBlock(Eigen::VectorXs::Zero(0), true), 0);
+ SensorBasePtr sensor_odom_ptr = std::make_shared< SensorBase>(SEN_ODOM_2D, "ODOM 2D", std::make_shared<StateBlock>(Eigen::Vector2s::Zero(), true),
+ std::make_shared<StateBlock>(Eigen::Vector1s::Zero(), true),
+ std::make_shared<StateBlock>(Eigen::VectorXs::Zero(0), true), 0);
SensorBasePtr sensor_fix_ptr = std::make_shared< SensorBase>(SEN_ABSOLUTE_POSE, "ABSOLUTE POSE", nullptr, nullptr, nullptr, 0);
ProcessorOdom2D::Ptr odom2d_ptr = std::make_shared< ProcessorOdom2D>(100,100,100);
// Assemble Wolf tree by linking the nodes
diff --git a/src/examples/test_processor_image_landmark.cpp b/src/examples/test_processor_image_landmark.cpp
index e436b7ec7d0033fcabbd307b64f44960bb3efc2f..649e6d82b305b70d6ec247a716184e38c4ff19cd 100644
--- a/src/examples/test_processor_image_landmark.cpp
+++ b/src/examples/test_processor_image_landmark.cpp
@@ -77,9 +77,9 @@ int main(int argc, char** argv)
// // SENSOR
// Eigen::Vector4s k = {320,240,320,320};
- // SensorCamera* sensor_ptr_ = new SensorCamera(new StateBlock(Eigen::Vector3s::Zero()),
- // new StateBlock(Eigen::Vector3s::Zero()),
- // new StateBlock(k,false),img_width,img_height);
+ // SensorCamera* sensor_ptr_ = new SensorCamera(std::make_shared<StateBlock>(Eigen::Vector3s::Zero()),
+ // std::make_shared<StateBlock>(Eigen::Vector3s::Zero()),
+ // std::make_shared<StateBlock>(k,false),img_width,img_height);
// wolf_problem_ptr_->getHardwarePtr()->addSensor(sensor_ptr_);
diff --git a/src/examples/test_processor_imu.cpp b/src/examples/test_processor_imu.cpp
index c0962cec4ab5f6bc9f44b176045d3aff60e8084c..0abde52f587d58efea58ffed5efb1d853c700552 100644
--- a/src/examples/test_processor_imu.cpp
+++ b/src/examples/test_processor_imu.cpp
@@ -195,8 +195,8 @@ int main(int argc, char** argv)
problem_ptr_->check();
// problem_ptr_->getTrajectoryPtr()->getFrameList().front()->remove();
- problem_ptr_->getTrajectoryPtr()->getFrameList().front()->getCaptureList().front()->remove();
- problem_ptr_->getTrajectoryPtr()->getFrameList().front()->remove();
+// problem_ptr_->getTrajectoryPtr()->getFrameList().front()->getCaptureList().front()->remove();
+// problem_ptr_->getTrajectoryPtr()->getFrameList().front()->remove();
// problem_ptr_->getTrajectoryPtr()->getFrameList().front()->getCaptureList().front()->remove();
problem_ptr_->check();
diff --git a/src/examples/test_processor_tracker_feature.cpp b/src/examples/test_processor_tracker_feature.cpp
index f49cfe028f670e3ddfdacb97f3d35bd9143e167a..fea62093c76088b0e35796799f9aac33b59b4d85 100644
--- a/src/examples/test_processor_tracker_feature.cpp
+++ b/src/examples/test_processor_tracker_feature.cpp
@@ -27,9 +27,9 @@ int main()
// Wolf problem
ProblemPtr wolf_problem_ptr_ = make_shared<Problem>(FRM_PO_2D);
- SensorBasePtr sensor_ptr_ = make_shared<SensorBase>(SEN_ODOM_2D, "ODOM 2D", new StateBlock(Eigen::VectorXs::Zero(2)),
- new StateBlock(Eigen::VectorXs::Zero(1)),
- new StateBlock(Eigen::VectorXs::Zero(2)), 2);
+ SensorBasePtr sensor_ptr_ = make_shared<SensorBase>(SEN_ODOM_2D, "ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)),
+ std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
+ std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
shared_ptr<ProcessorTrackerFeatureDummy> processor_ptr_ = make_shared<ProcessorTrackerFeatureDummy>();
diff --git a/src/examples/test_processor_tracker_landmark.cpp b/src/examples/test_processor_tracker_landmark.cpp
index ad0061c420730f961453cb5854d1c9255b51bd8e..1acbfa9a395a20ecf9e37b2eaaa48f350116dda5 100644
--- a/src/examples/test_processor_tracker_landmark.cpp
+++ b/src/examples/test_processor_tracker_landmark.cpp
@@ -62,9 +62,9 @@ int main()
// Wolf problem
ProblemPtr wolf_problem_ptr_ = Problem::create(FRM_PO_2D);
- SensorBasePtr sensor_ptr_ = std::make_shared< SensorBase>(SEN_ODOM_2D, "ODOM 2D", new StateBlock(Eigen::VectorXs::Zero(2)),
- new StateBlock(Eigen::VectorXs::Zero(1)),
- new StateBlock(Eigen::VectorXs::Zero(2)), 2);
+ SensorBasePtr sensor_ptr_ = std::make_shared< SensorBase>(SEN_ODOM_2D, "ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)),
+ std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
+ std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
std::shared_ptr<ProcessorTrackerLandmarkDummy> processor_ptr_ = std::make_shared< ProcessorTrackerLandmarkDummy>(5);
diff --git a/src/examples/test_state_quaternion.cpp b/src/examples/test_state_quaternion.cpp
index 22b8061d10c9744b5143dc5f5f6458f2f2a61d2f..ec23b9e0f4d2ccc05b02b9e151783c6a73b8ae30 100644
--- a/src/examples/test_state_quaternion.cpp
+++ b/src/examples/test_state_quaternion.cpp
@@ -17,9 +17,9 @@ int main (void)
using namespace wolf;
// 3D
- StateBlockPtr pp = new StateBlock(3);
- StateQuaternion* op = new StateQuaternion;
- StateBlockPtr vp = new StateBlock(3);
+ StateBlockPtr pp = std::make_shared<StateBlock>(3);
+ StateQuaternionPtr op = std::make_shared<StateQuaternion>();
+ StateBlockPtr vp = std::make_shared<StateBlock>(3);
TimeStamp t;
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/src/examples/test_wolf_autodiffwrapper.cpp
index fbc02d74ce1134afdeccbdead829d873601b7d65..50ad284547aca03af78ccca8f1d10425fa4613f3 100644
--- a/src/examples/test_wolf_autodiffwrapper.cpp
+++ b/src/examples/test_wolf_autodiffwrapper.cpp
@@ -47,7 +47,7 @@ int main(int argc, char** argv)
// Wolf problem
ProblemPtr wolf_problem_ceres_diff = new Problem(FRM_PO_2D);
ProblemPtr wolf_problem_wolf_diff = new Problem(FRM_PO_2D);
- SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", new StateBlock(Eigen::VectorXs::Zero(2)), new StateBlock(Eigen::VectorXs::Zero(1)), new StateBlock(Eigen::VectorXs::Zero(2)), 2);
+ SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
// Ceres wrappers
ceres::Solver::Options ceres_options;
@@ -114,8 +114,8 @@ int main(int argc, char** argv)
bNum.clear();
// add frame to problem
- FrameBasePtr vertex_frame_ptr_ceres_diff = new FrameBase(TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
- FrameBasePtr vertex_frame_ptr_wolf_diff = new FrameBase(TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_ceres_diff = new FrameBase(TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_wolf_diff = new FrameBase(TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
wolf_problem_ceres_diff->getTrajectoryPtr()->addFrame(vertex_frame_ptr_ceres_diff);
wolf_problem_wolf_diff->getTrajectoryPtr()->addFrame(vertex_frame_ptr_wolf_diff);
// store
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index a2668f05bd2e82d4d626e54a18f82801d862f5c9..f4c2e1d72cb77289a5359a44ff349942b62d707c 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -64,7 +64,7 @@ int main(int argc, char** argv)
// Wolf problem
ProblemPtr wolf_problem_full = new Problem(FRM_PO_2D);
ProblemPtr wolf_problem_prun = new Problem(FRM_PO_2D);
- SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", new StateBlock(Eigen::VectorXs::Zero(2)), new StateBlock(Eigen::VectorXs::Zero(1)), new StateBlock(Eigen::VectorXs::Zero(2)), 2);
+ SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
Eigen::SparseMatrix<Scalar> Lambda(0,0);
@@ -133,8 +133,8 @@ int main(int argc, char** argv)
bNum.clear();
// add frame to problem
- FrameBasePtr vertex_frame_ptr_full = new FrameBase(KEY_FRAME, TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
- FrameBasePtr vertex_frame_ptr_prun = new FrameBase(KEY_FRAME, TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_full = new FrameBase(KEY_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_prun = new FrameBase(KEY_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
wolf_problem_full->getTrajectoryPtr()->addFrame(vertex_frame_ptr_full);
wolf_problem_prun->getTrajectoryPtr()->addFrame(vertex_frame_ptr_prun);
// store
diff --git a/src/examples/test_wolf_prunning.cpp b/src/examples/test_wolf_prunning.cpp
index 3e398122418a7a95eb2524bfc922b970cd0b4440..40fbc13be38c010281a3a5934bdc0b60b8b74d07 100644
--- a/src/examples/test_wolf_prunning.cpp
+++ b/src/examples/test_wolf_prunning.cpp
@@ -78,7 +78,7 @@ int main(int argc, char** argv)
// Wolf problem
ProblemPtr wolf_problem_full = new Problem(FRM_PO_2D);
ProblemPtr wolf_problem_prun = new Problem(FRM_PO_2D);
- SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", new StateBlock(Eigen::VectorXs::Zero(2)), new StateBlock(Eigen::VectorXs::Zero(1)), new StateBlock(Eigen::VectorXs::Zero(2)), 2);
+ SensorBasePtr sensor = new SensorBase(SEN_ODOM_2D, "ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
Eigen::SparseMatrix<Scalar> Lambda(0,0);
@@ -149,8 +149,8 @@ int main(int argc, char** argv)
bNum.clear();
// add frame to problem
- FrameBasePtr vertex_frame_ptr_full = new FrameBase(KEY_FRAME, TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
- FrameBasePtr vertex_frame_ptr_prun = new FrameBase(KEY_FRAME, TimeStamp(0), new StateBlock(vertex_pose.head(2)), new StateBlock(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_full = new FrameBase(KEY_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
+ FrameBasePtr vertex_frame_ptr_prun = new FrameBase(KEY_FRAME, TimeStamp(0), std::make_shared<StateBlock>(vertex_pose.head(2)), std::make_shared<StateBlock>(vertex_pose.tail(1)));
wolf_problem_full->getTrajectoryPtr()->addFrame(vertex_frame_ptr_full);
wolf_problem_prun->getTrajectoryPtr()->addFrame(vertex_frame_ptr_prun);
// store
diff --git a/src/examples/test_wolf_tree.cpp b/src/examples/test_wolf_tree.cpp
index b215cd2034bb26b4f1e3d9fb7c9571a3e519506a..9a0075a93c089db05f9bb044ec9c5f90f237228f 100644
--- a/src/examples/test_wolf_tree.cpp
+++ b/src/examples/test_wolf_tree.cpp
@@ -17,8 +17,8 @@ int main(int argc, char** argv)
//Welcome message
std::cout << std::endl << " ========= WOLF TREE test ===========" << std::endl << std::endl;
- SensorOdom2D* odom_sensor_ptr_ = new SensorOdom2D(new StateBlock(Eigen::Vector3s::Zero()),
- new StateBlock(Eigen::Vector1s::Zero()), 0.1, 0.1);
+ SensorOdom2D* odom_sensor_ptr_ = new SensorOdom2D(std::make_shared<StateBlock>(Eigen::Vector3s::Zero()),
+ std::make_shared<StateBlock>(Eigen::Vector1s::Zero()), 0.1, 0.1);
//std::cout << " odom sensor created!" << std::endl;
WolfManager* wolf_manager_ = new WolfManager(FRM_PO_2D, //frame structure