lock() != nullptr instead of expired()

src/factor/factor_base.cpp

@@ -316,27 +316,27 @@ void FactorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _st
 
     for (const auto& Fow : getFrameOtherList())
     {
-        auto Fow_sh = Fow.lock();
-        if (Fow_sh)
-            _stream << " Frm" << Fow_sh->id();
+        auto Fo = Fow.lock();
+        if (Fo)
+            _stream << " Frm" << Fo->id();
     }
     for (const auto& Cow : getCaptureOtherList())
     {
-        auto Cow_sh = Cow.lock();
-        if (Cow_sh)
-            _stream << " Cap" << Cow_sh->id();
+        auto Co = Cow.lock();
+        if (Co)
+            _stream << " Cap" << Co->id();
     }
     for (const auto& fow : getFeatureOtherList())
     {
-        auto fow_sh = fow.lock();
-        if (fow_sh)
-            _stream << " Ftr" << fow_sh->id();
+        auto fo = fow.lock();
+        if (fo)
+            _stream << " Ftr" << fo->id();
     }
     for (const auto& Low : getLandmarkOtherList())
     {
-        auto Low_sh = Low.lock();
-        if (Low_sh)
-            _stream << " Lmk" << Low_sh->id();
+        auto Lo = Low.lock();
+        if (Lo)
+            _stream << " Lmk" << Lo->id();
     }
     _stream << std::endl;
 }
@@ -366,9 +366,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
     // find constrained_by pointer in constrained frame
     for (const auto& Fow : getFrameOtherList())
     {
-        if (!Fow.expired())
+        const auto& Fo = Fow.lock();
+        if (Fo)
         {
-            const auto& Fo = Fow.lock();
             if (_verbose)
             {
                 _stream << " ( --> Frm" << Fo->id() << " <- ";
@@ -389,10 +389,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
     // find constrained_by pointer in constrained capture
     for (const auto& Cow : getCaptureOtherList())
     {
-        if (!Cow.expired())
+        const auto& Co = Cow.lock();
+        if (Co)
         {
-            const auto& Co = Cow.lock();
-
             if (_verbose)
             {
                 _stream << " ( --> Cap" << Co->id() << " <- ";
@@ -413,9 +412,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
     // find constrained_by pointer in constrained feature
     for (const auto& fow : getFeatureOtherList())
     {
-        if (!fow.expired())
+        const auto& fo = fow.lock();
+        if (fo)
         {
-            const auto& fo = fow.lock();
             if (_verbose)
             {
                 _stream << " ( --> Ftr" << fo->id() << " <- ";
@@ -436,10 +435,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
     // find constrained_by pointer in constrained landmark
     for (const auto& Low : getLandmarkOtherList())
     {
-        if (Low.expired())
+        const auto& Lo = Low.lock();
+        if (Lo)
         {
-            const auto& Lo = Low.lock();
-
             if (_verbose)
             {
                 _stream << " ( --> Lmk" << Lo->id() << " <- ";
@@ -530,9 +528,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
         // find in constrained Frame
         for (const auto& Fow : getFrameOtherList())
         {
-            if (!Fow.expired())
+            const auto& Fo = Fow.lock();
+            if (Fo)
             {
-                const auto& Fo = Fow.lock();
                 found_here  = Fo->hasStateBlock(sb);
                 if (found_here && _verbose) _stream << " FrmO" << Fo->id();
                 found       = found || found_here;
@@ -551,9 +549,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
         // find in constrained Capture
         for (const auto& Cow : getCaptureOtherList())
         {
-            if (!Cow.expired())
+            const auto& Co = Cow.lock();
+            if (Co)
             {
-                const auto& Co = Cow.lock();
                 found_here  = Co->hasStateBlock(sb);
                 if (found_here && _verbose) _stream << " CapO" << Co->id();
                 found       = found || found_here;
@@ -563,9 +561,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
         // find in constrained Feature
         for (const auto& fow : getFeatureOtherList())
         {
-            if (!fow.expired())
+            const auto& fo = fow.lock();
+            if (fo)
             {
-                const auto& fo = fow.lock();
                 // find in constrained feature's Frame
                 auto foF    = fo->getFrame();
                 found_here  = foF->hasStateBlock(sb);
@@ -589,9 +587,9 @@ CheckLog FactorBase::localCheck(bool _verbose, FactorBasePtr _fac_ptr, std::ostr
         // find in constrained landmark
         for (const auto& Low : getLandmarkOtherList())
         {
-            if (!Low.expired())
+            const auto& Lo = Low.lock();
+            if (Lo)
             {
-                const auto& Lo = Low.lock();
                 found_here  = Lo->hasStateBlock(sb);
                 if (found_here && _verbose) _stream << " LmkO" << Lo->id();
                 found       = found || found_here;