Revert "lock() != nullptr instead of expired()"

This reverts commit bccd0283

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