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Switch boost::shared_ptr to std::shared_ptr. #57

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Sep 27, 2016
Merged

Switch boost::shared_ptr to std::shared_ptr. #57

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20 changes: 12 additions & 8 deletions include/geometric_shapes/bodies.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,13 +37,17 @@
#ifndef GEOMETRIC_SHAPES_BODIES_
#define GEOMETRIC_SHAPES_BODIES_

#if __cplusplus <= 199711L
#error This header requires at least C++11
#endif

#include "geometric_shapes/shapes.h"
#include <eigen_stl_containers/eigen_stl_containers.h>
#include <boost/scoped_ptr.hpp>
#include <random_numbers/random_numbers.h>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <memory>
#include <vector>

/** \brief This set of classes allows quickly detecting whether a given point
is inside an object or not. This capability is useful when removing
Expand Down Expand Up @@ -74,10 +78,10 @@ struct BoundingCylinder
class Body;

/** \brief Shared pointer to a Body */
typedef boost::shared_ptr<Body> BodyPtr;
typedef std::shared_ptr<Body> BodyPtr;

/** \brief Shared pointer to a const Body */
typedef boost::shared_ptr<const Body> BodyConstPtr;
typedef std::shared_ptr<const Body> BodyConstPtr;

/** \brief A body is a shape + its pose. Point inclusion, ray
intersection can be tested, volumes and bounding spheres can
Expand Down Expand Up @@ -456,7 +460,7 @@ class ConvexMesh : public Body
};

// shape-dependent data; keep this in one struct so that a cheap pointer copy can be done in cloneAt()
boost::shared_ptr<MeshData> mesh_data_;
std::shared_ptr<MeshData> mesh_data_;

// pose/padding/scaling-dependent values & values computed for convenience and fast upcoming computations
Eigen::Affine3d i_pose_;
Expand All @@ -471,7 +475,7 @@ class ConvexMesh : public Body
EigenSTL::vector_Vector3d *scaled_vertices_;

private:
boost::scoped_ptr<EigenSTL::vector_Vector3d> scaled_vertices_storage_;
std::unique_ptr<EigenSTL::vector_Vector3d> scaled_vertices_storage_;

public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Expand Down Expand Up @@ -528,10 +532,10 @@ class BodyVector
};

/** \brief Shared pointer to a Body */
typedef boost::shared_ptr<Body> BodyPtr;
typedef std::shared_ptr<Body> BodyPtr;

/** \brief Shared pointer to a const Body */
typedef boost::shared_ptr<const Body> BodyConstPtr;
typedef std::shared_ptr<const Body> BodyConstPtr;

}

Expand Down
5 changes: 2 additions & 3 deletions include/geometric_shapes/shapes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,6 @@
#include <cstdlib>
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <memory>
#include <string>

Expand Down Expand Up @@ -270,10 +269,10 @@ class OcTree : public Shape


/** \brief Shared pointer to a Shape */
typedef boost::shared_ptr<Shape> ShapePtr;
typedef std::shared_ptr<Shape> ShapePtr;

/** \brief Shared pointer to a const Shape */
typedef boost::shared_ptr<const Shape> ShapeConstPtr;
typedef std::shared_ptr<const Shape> ShapeConstPtr;

}

Expand Down
18 changes: 9 additions & 9 deletions src/bodies.cpp
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Expand Up @@ -149,15 +149,15 @@ void bodies::Sphere::updateInternalData()
center_ = pose_.translation();
}

boost::shared_ptr<bodies::Body> bodies::Sphere::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
std::shared_ptr<bodies::Body> bodies::Sphere::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
{
Sphere *s = new Sphere();
s->radius_ = radius_;
s->padding_ = padding;
s->scale_ = scale;
s->pose_ = pose;
s->updateInternalData();
return boost::shared_ptr<Body>(s);
return std::shared_ptr<Body>(s);
}

double bodies::Sphere::computeVolume() const
Expand Down Expand Up @@ -323,7 +323,7 @@ bool bodies::Cylinder::samplePointInside(random_numbers::RandomNumberGenerator &
return true;
}

boost::shared_ptr<bodies::Body> bodies::Cylinder::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
std::shared_ptr<bodies::Body> bodies::Cylinder::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
{
Cylinder *c = new Cylinder();
c->length_ = length_;
Expand All @@ -332,7 +332,7 @@ boost::shared_ptr<bodies::Body> bodies::Cylinder::cloneAt(const Eigen::Affine3d
c->scale_ = scale;
c->pose_ = pose;
c->updateInternalData();
return boost::shared_ptr<Body>(c);
return std::shared_ptr<Body>(c);
}

double bodies::Cylinder::computeVolume() const
Expand Down Expand Up @@ -521,7 +521,7 @@ void bodies::Box::updateInternalData()
corner2_ = center_ + tmp;
}

boost::shared_ptr<bodies::Body> bodies::Box::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
std::shared_ptr<bodies::Body> bodies::Box::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
{
Box *b = new Box();
b->length_ = length_;
Expand All @@ -531,7 +531,7 @@ boost::shared_ptr<bodies::Body> bodies::Box::cloneAt(const Eigen::Affine3d &pose
b->scale_ = scale;
b->pose_ = pose;
b->updateInternalData();
return boost::shared_ptr<Body>(b);
return std::shared_ptr<Body>(b);
}

double bodies::Box::computeVolume() const
Expand Down Expand Up @@ -922,7 +922,7 @@ void bodies::ConvexMesh::updateInternalData()
Eigen::Affine3d pose = pose_;
pose.translation() = Eigen::Vector3d(pose_ * mesh_data_->box_offset_);

boost::scoped_ptr<shapes::Box> box_shape(new shapes::Box(mesh_data_->box_size_.x(), mesh_data_->box_size_.y(), mesh_data_->box_size_.z()));
std::unique_ptr<shapes::Box> box_shape(new shapes::Box(mesh_data_->box_size_.x(), mesh_data_->box_size_.y(), mesh_data_->box_size_.z()));
bounding_box_.setDimensions(box_shape.get());
bounding_box_.setPose(pose);
bounding_box_.setPadding(padding_);
Expand Down Expand Up @@ -967,15 +967,15 @@ const EigenSTL::vector_Vector3d& bodies::ConvexMesh::getScaledVertices() const
return scaled_vertices_ ? *scaled_vertices_ : getVertices();
}

boost::shared_ptr<bodies::Body> bodies::ConvexMesh::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
std::shared_ptr<bodies::Body> bodies::ConvexMesh::cloneAt(const Eigen::Affine3d &pose, double padding, double scale) const
{
ConvexMesh *m = new ConvexMesh();
m->mesh_data_ = mesh_data_;
m->padding_ = padding;
m->scale_ = scale;
m->pose_ = pose;
m->updateInternalData();
return boost::shared_ptr<Body>(m);
return std::shared_ptr<Body>(m);
}

void bodies::ConvexMesh::computeBoundingSphere(BoundingSphere &sphere) const
Expand Down