Use smart pointers in Prb::autoSetup

src/problem/problem.cpp

@@ -113,35 +113,37 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
 #else
     std::string lib_extension = ".so";
 #endif
+
     // Problem structure and dimension
     std::string frame_structure = _server.getParam<std::string> ("problem/frame_structure");
-    int dim                     = _server.getParam<int>         ("problem/dimension");
-    auto problem                = Problem::create(frame_structure, dim);
-    //
-    //  cout << "PRINTING SERVER MAP" << endl;
-    // _server.print();
-    // cout << "-----------------------------------" << endl;
+    int         dim             = _server.getParam<int>         ("problem/dimension");
+    auto        problem         = Problem::create(frame_structure, dim);
+
     WOLF_TRACE("Setting up problem with frame structure {" + frame_structure + "} and dimension " + std::to_string(dim) + "D");
 
     // Load plugins
-    auto loaders = std::vector<Loader *>();
+    auto loaders = std::vector<std::shared_ptr<Loader>>();
     std::string plugins_path;
     try{
         plugins_path = _server.getParam<std::string>("plugins_path");
     }
     catch(MissingValueException& e){
       WOLF_WARN(e.what());
-      WOLF_WARN("Setting '/usr/local/lib/iri-algorithms/' as plugins path...");
-      plugins_path="/usr/local/lib/iri-algorithms/";
+      WOLF_WARN("Setting '/usr/local/lib/' as plugins path...");
+      plugins_path="/usr/local/lib/";
     }
-    for (auto plugin_name : _server.getParam<std::vector<std::string>>("plugins")) {
+    for (auto plugin_name : _server.getParam<std::vector<std::string>>("plugins"))
+    {
       if (plugin_name == "core" or plugin_name == "wolf" or plugin_name == "") continue; // ignore plugin "core"
+
       std::string plugin = plugins_path + "libwolf" + plugin_name + lib_extension;
-      WOLF_TRACE("Loading plugin " + plugin);
-      auto l = new LoaderRaw(plugin);
+      WOLF_TRACE("Loading plugin " + plugin_name + " via " + plugin);
+      auto l = std::make_shared<LoaderRaw>(plugin);
       l->load();
       loaders.push_back(l);
     }
+
+    // load Packages for subscribers and publishers
     std::string packages_path;
     try {
         packages_path = _server.getParam<std::string>("packages_path");
@@ -149,20 +151,22 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
         WOLF_WARN(e.what());
         WOLF_WARN("Support for subscribers disabled...");
     }
-    for (auto it : _server.getParam<std::vector<std::string>>("packages_subscriber")) {
-        std::string subscriber = packages_path + "/libsubscriber_" + it + lib_extension;
-        WOLF_TRACE("Loading subscriber " + subscriber);
-        auto l = new LoaderRaw(subscriber);
+    for (auto subscriber_name : _server.getParam<std::vector<std::string>>("packages_subscriber")) {
+        std::string subscriber = packages_path + "/libsubscriber_" + subscriber_name + lib_extension;
+        WOLF_TRACE("Loading subscriber " + subscriber_name + " via " + subscriber);
+        auto l = std::make_shared<LoaderRaw>(subscriber);
         l->load();
         loaders.push_back(l);
     }
-    for (auto it : _server.getParam<std::vector<std::string>>("packages_publisher")) {
-        std::string subscriber = packages_path + "/libpublisher_" + it + lib_extension;
-        WOLF_TRACE("Loading publisher " + subscriber);
-        auto l = new LoaderRaw(subscriber);
+    for (auto publisher_name : _server.getParam<std::vector<std::string>>("packages_publisher")) {
+        std::string publisher = packages_path + "/libpublisher_" + publisher_name + lib_extension;
+        WOLF_TRACE("Loading publisher " + publisher_name + " via " + publisher);
+        auto l = std::make_shared<LoaderRaw>(publisher);
         l->load();
         loaders.push_back(l);
     }
+
+    // load raw libs
     std::vector<std::string> raw_libs;
     try {
         raw_libs = _server.getParam<std::vector<std::string>>("raw_libs");
@@ -172,22 +176,25 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
     }
     for (auto lib : raw_libs) {
         WOLF_TRACE("Loading raw lib " + lib);
-        auto l = new LoaderRaw(lib);
+        auto l = std::make_shared<LoaderRaw>(lib);
         l->load();
         loaders.push_back(l);
     }
 
     // Install sensors and processors
-    auto sensorMap = std::map<std::string, SensorBasePtr>();
-    auto procesorMap = std::map<std::string, ProcessorBasePtr>();
-    auto sensors = _server.getParam<std::vector<std::map<std::string, std::string>>>("sensors");
-    for(auto sen : sensors){
-        sensorMap.insert(std::pair<std::string, SensorBasePtr>(sen["name"], problem->installSensor(sen["type"], sen["name"], _server)));
-    }
-    auto processors = _server.getParam<std::vector<std::map<std::string, std::string>>>("processors");
-    for(auto prc : processors){
-        procesorMap.insert(std::pair<std::string, ProcessorBasePtr>(prc["name"], problem->installProcessor(prc["type"], prc["name"], prc["sensor_name"], _server)));
-    }
+    auto sensors        = _server.getParam<std::vector<std::map<std::string, std::string>>>("sensors");
+    for(auto sen : sensors)
+        problem->installSensor(sen["type"],
+                               sen["name"],
+                               _server);
+
+    auto processors     = _server.getParam<std::vector<std::map<std::string, std::string>>>("processors");
+    for(auto prc : processors)
+        problem->installProcessor(prc["type"],
+                                  prc["name"],
+                                  prc["sensor_name"],
+                                  _server);
+
 
     // Tree manager
     std::string tree_manager_type = _server.getParam<std::string>("problem/tree_manager/type");
@@ -195,7 +202,7 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
     if (tree_manager_type != "None" and tree_manager_type != "none")
         problem->setTreeManager(AutoConfFactoryTreeManager::create(tree_manager_type, "tree manager", _server));
 
-    // Prior
+    // Set problem prior -- first keyframe
     std::string prior_mode = _server.getParam<std::string>("problem/prior/mode");
     assert((prior_mode == "nothing" || prior_mode == "initial_guess" || prior_mode == "fix" || prior_mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'");
     WOLF_TRACE("Prior mode: ", prior_mode);
@@ -214,7 +221,6 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
     }
     else
     {
-        WOLF_TRACE("Prior mode: ", prior_mode);
         problem->setPriorOptions(prior_mode,
                                  _server.getParam<VectorComposite>("problem/prior/state"));
     }