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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
89ef367a
Commit
89ef367a
authored
8 years ago
by
Joan Solà Ortega
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shared_ptr in Hardware, Trajectory and Map
parent
7cdc5bff
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5 changed files
src/landmark_base.h
+1
-1
1 addition, 1 deletion
src/landmark_base.h
src/map_base.cpp
+4
-2
4 additions, 2 deletions
src/map_base.cpp
src/map_base.h
+1
-1
1 addition, 1 deletion
src/map_base.h
src/trajectory_base.cpp
+2
-2
2 additions, 2 deletions
src/trajectory_base.cpp
src/wolf.h
+6
-5
6 additions, 5 deletions
src/wolf.h
with
14 additions
and
11 deletions
src/landmark_base.h
+
1
−
1
View file @
89ef367a
...
@@ -103,7 +103,7 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
...
@@ -103,7 +103,7 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
void
setMapPtr
(
MapBasePtr
_map_ptr
){
map_ptr_
=
_map_ptr
;}
void
setMapPtr
(
MapBasePtr
_map_ptr
){
map_ptr_
=
_map_ptr
.
get
();}
// TODO remove .get()
ProblemPtr
getProblem
();
ProblemPtr
getProblem
();
void
setProblem
(
ProblemPtr
_prob_ptr
){
problem_ptr_
=
_prob_ptr
;}
void
setProblem
(
ProblemPtr
_prob_ptr
){
problem_ptr_
=
_prob_ptr
;}
...
...
This diff is collapsed.
Click to expand it.
src/map_base.cpp
+
4
−
2
View file @
89ef367a
...
@@ -41,7 +41,8 @@ LandmarkBasePtr MapBase::addLandmark(LandmarkBasePtr _landmark_ptr)
...
@@ -41,7 +41,8 @@ LandmarkBasePtr MapBase::addLandmark(LandmarkBasePtr _landmark_ptr)
{
{
//std::cout << "MapBase::addLandmark" << std::endl;
//std::cout << "MapBase::addLandmark" << std::endl;
landmark_list_
.
push_back
(
_landmark_ptr
);
landmark_list_
.
push_back
(
_landmark_ptr
);
_landmark_ptr
->
setMapPtr
(
this
);
// _landmark_ptr->setMapPtr(this); // TODO remove line
_landmark_ptr
->
setMapPtr
(
shared_from_this
());
_landmark_ptr
->
setProblem
(
getProblem
());
_landmark_ptr
->
setProblem
(
getProblem
());
_landmark_ptr
->
registerNewStateBlocks
();
_landmark_ptr
->
registerNewStateBlocks
();
return
_landmark_ptr
;
return
_landmark_ptr
;
...
@@ -53,7 +54,8 @@ void MapBase::addLandmarkList(LandmarkBaseList _landmark_list)
...
@@ -53,7 +54,8 @@ void MapBase::addLandmarkList(LandmarkBaseList _landmark_list)
LandmarkBaseList
lmk_list_copy
=
_landmark_list
;
//since _landmark_list will be empty after addDownNodeList()
LandmarkBaseList
lmk_list_copy
=
_landmark_list
;
//since _landmark_list will be empty after addDownNodeList()
for
(
LandmarkBasePtr
landmark_ptr
:
lmk_list_copy
)
for
(
LandmarkBasePtr
landmark_ptr
:
lmk_list_copy
)
{
{
landmark_ptr
->
setMapPtr
(
this
);
// landmark_ptr->setMapPtr(this); // TODO remove line
landmark_ptr
->
setMapPtr
(
shared_from_this
());
landmark_ptr
->
setProblem
(
getProblem
());
landmark_ptr
->
setProblem
(
getProblem
());
landmark_ptr
->
registerNewStateBlocks
();
landmark_ptr
->
registerNewStateBlocks
();
}
}
...
...
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Click to expand it.
src/map_base.h
+
1
−
1
View file @
89ef367a
...
@@ -17,7 +17,7 @@ class LandmarkBase;
...
@@ -17,7 +17,7 @@ class LandmarkBase;
namespace
wolf
{
namespace
wolf
{
//class MapBase
//class MapBase
class
MapBase
:
public
NodeBase
class
MapBase
:
public
NodeBase
,
public
std
::
enable_shared_from_this
<
MapBase
>
{
{
private:
private:
ProblemWPtr
problem_ptr_
;
ProblemWPtr
problem_ptr_
;
...
...
This diff is collapsed.
Click to expand it.
src/trajectory_base.cpp
+
2
−
2
View file @
89ef367a
...
@@ -31,8 +31,8 @@ void TrajectoryBase::destruct()
...
@@ -31,8 +31,8 @@ void TrajectoryBase::destruct()
FrameBasePtr
TrajectoryBase
::
addFrame
(
FrameBasePtr
_frame_ptr
)
FrameBasePtr
TrajectoryBase
::
addFrame
(
FrameBasePtr
_frame_ptr
)
{
{
// link up
// link up
_frame_ptr
->
setTrajectoryPtr
(
this
);
//
_frame_ptr->setTrajectoryPtr(this);
// TODO remove line
//
_frame_ptr->setTrajectoryPtr(shared_from_this());
_frame_ptr
->
setTrajectoryPtr
(
shared_from_this
());
_frame_ptr
->
setProblem
(
getProblem
());
_frame_ptr
->
setProblem
(
getProblem
());
if
(
_frame_ptr
->
isKey
())
if
(
_frame_ptr
->
isKey
())
...
...
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Click to expand it.
src/wolf.h
+
6
−
5
View file @
89ef367a
...
@@ -299,8 +299,8 @@ typedef Problem* ProblemPtr;
...
@@ -299,8 +299,8 @@ typedef Problem* ProblemPtr;
typedef
Problem
*
ProblemWPtr
;
typedef
Problem
*
ProblemWPtr
;
// Hardware
// Hardware
//
typedef std::shared_ptr<HardwareBase> HardwareBasePtr;
typedef
std
::
shared_ptr
<
HardwareBase
>
HardwareBasePtr
;
typedef
HardwareBase
*
HardwareBasePtr
;
//
typedef HardwareBase* HardwareBasePtr;
// TODO remove line
typedef
HardwareBase
*
HardwareBaseWPtr
;
typedef
HardwareBase
*
HardwareBaseWPtr
;
// - Sensors
// - Sensors
...
@@ -322,8 +322,8 @@ typedef ProcessorBaseList::iterator ProcessorBaseIter;
...
@@ -322,8 +322,8 @@ typedef ProcessorBaseList::iterator ProcessorBaseIter;
typedef
ProcessorParamsBase
*
ProcessorParamsBasePtr
;
typedef
ProcessorParamsBase
*
ProcessorParamsBasePtr
;
// - Trajectory
// - Trajectory
//
typedef std::shared_ptr<TrajectoryBase> TrajectoryBasePtr;
typedef
std
::
shared_ptr
<
TrajectoryBase
>
TrajectoryBasePtr
;
typedef
TrajectoryBase
*
TrajectoryBasePtr
;
//
typedef TrajectoryBase* TrajectoryBasePtr;
// TODO remove line
typedef
TrajectoryBase
*
TrajectoryBaseWPtr
;
typedef
TrajectoryBase
*
TrajectoryBaseWPtr
;
// - Frame
// - Frame
...
@@ -355,7 +355,8 @@ typedef std::list<ConstraintBasePtr> ConstraintBaseList;
...
@@ -355,7 +355,8 @@ typedef std::list<ConstraintBasePtr> ConstraintBaseList;
typedef
ConstraintBaseList
::
iterator
ConstraintBaseIter
;
typedef
ConstraintBaseList
::
iterator
ConstraintBaseIter
;
//Map
//Map
typedef
MapBase
*
MapBasePtr
;
typedef
std
::
shared_ptr
<
MapBase
>
MapBasePtr
;
//typedef MapBase* MapBasePtr; // TODO remove line
typedef
MapBase
*
MapBaseWPtr
;
typedef
MapBase
*
MapBaseWPtr
;
typedef
std
::
list
<
MapBasePtr
>
MapBaseList
;
typedef
std
::
list
<
MapBasePtr
>
MapBaseList
;
typedef
MapBaseList
::
iterator
MapBaseIter
;
typedef
MapBaseList
::
iterator
MapBaseIter
;
...
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