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Index: collada_urdf/src/collada_urdf.cpp
===================================================================
--- collada_urdf.orig/src/collada_urdf.cpp
+++ collada_urdf/src/collada_urdf.cpp
@@ -538,7 +538,7 @@ private:
domInstance_with_extraRef piscene;
};
- typedef std::map< boost::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
+ typedef std::map< std::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
struct LINKOUTPUT
{
list<pair<int,string> > listusedlinks;
@@ -562,7 +562,7 @@ private:
axis_output() : iaxis(0) {
}
string sid, nodesid;
- boost::shared_ptr<const urdf::Joint> pjoint;
+ std::shared_ptr<const urdf::Joint> pjoint;
int iaxis;
string jointnodesid;
};
@@ -788,7 +788,7 @@ protected:
for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) {
string axis_infosid = _ComputeId(str(boost::format("axis_info_inst%d")%idof));
- boost::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
+ std::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof);
//int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis;
@@ -966,7 +966,7 @@ protected:
kmout->vlinksids.resize(_robot.links_.size());
FOREACHC(itjoint, _robot.joints_) {
- boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+ std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
int index = _mapjointindices[itjoint->second];
domJointRef pdomjoint = daeSafeCast<domJoint>(ktec->add(COLLADA_ELEMENT_JOINT));
string jointid = _ComputeId(pjoint->name); //str(boost::format("joint%d")%index);
@@ -1039,7 +1039,7 @@ protected:
// create the formulas for all mimic joints
FOREACHC(itjoint, _robot.joints_) {
string jointsid = _ComputeId(itjoint->second->name);
- boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+ std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
if( !pjoint->mimic ) {
continue;
}
@@ -1125,7 +1125,7 @@ protected:
/// \param pkinparent Kinbody parent
/// \param pnodeparent Node parent
/// \param strModelUri
- virtual LINKOUTPUT _WriteLink(boost::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
+ virtual LINKOUTPUT _WriteLink(std::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
{
LINKOUTPUT out;
int linkindex = _maplinkindices[plink];
@@ -1141,8 +1141,8 @@ protected:
pnode->setSid(nodesid.c_str());
pnode->setName(plink->name.c_str());
- boost::shared_ptr<urdf::Geometry> geometry;
- boost::shared_ptr<urdf::Material> material;
+ std::shared_ptr<urdf::Geometry> geometry;
+ std::shared_ptr<urdf::Material> material;
urdf::Pose geometry_origin;
if( !!plink->visual ) {
geometry = plink->visual->geometry;
@@ -1161,7 +1161,7 @@ protected:
if ( !!plink->visual ) {
if (plink->visual_array.size() > 1) {
int igeom = 0;
- for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
+ for (std::vector<std::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
it != plink->visual_array.end(); it++) {
// geom
string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
@@ -1208,7 +1208,7 @@ protected:
// process all children
FOREACHC(itjoint, plink->child_joints) {
- boost::shared_ptr<urdf::Joint> pjoint = *itjoint;
+ std::shared_ptr<urdf::Joint> pjoint = *itjoint;
int index = _mapjointindices[pjoint];
// <attachment_full joint="k1/joint0">
@@ -1269,7 +1269,7 @@ protected:
return out;
}
- domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
+ domGeometryRef _WriteGeometry(std::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
{
domGeometryRef cgeometry = daeSafeCast<domGeometry>(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY));
cgeometry->setId(geometry_id.c_str());
@@ -1308,7 +1308,7 @@ protected:
return cgeometry;
}
- void _WriteMaterial(const string& geometry_id, boost::shared_ptr<urdf::Material> material)
+ void _WriteMaterial(const string& geometry_id, std::shared_ptr<urdf::Material> material)
{
string effid = geometry_id+string("_eff");
string matid = geometry_id+string("_mat");
@@ -1386,7 +1386,7 @@ protected:
rigid_body->setSid(rigidsid.c_str());
rigid_body->setName(itlink->second->name.c_str());
domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
- boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
+ std::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
if( !!inertial ) {
daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial));
domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS));
@@ -1916,9 +1916,9 @@ private:
boost::shared_ptr<instance_kinematics_model_output> _ikmout;
boost::shared_ptr<instance_articulated_system_output> _iasout;
- std::map< boost::shared_ptr<const urdf::Joint>, int > _mapjointindices;
- std::map< boost::shared_ptr<const urdf::Link>, int > _maplinkindices;
- std::map< boost::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
+ std::map< std::shared_ptr<const urdf::Joint>, int > _mapjointindices;
+ std::map< std::shared_ptr<const urdf::Link>, int > _maplinkindices;
+ std::map< std::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
Assimp::Importer _importer;
};
Index: collada_urdf/src/collada_to_urdf.cpp
===================================================================
--- collada_urdf.orig/src/collada_to_urdf.cpp
+++ collada_urdf/src/collada_to_urdf.cpp
@@ -188,7 +188,7 @@ void assimp_calc_bbox(string fname, floa
}
}
-void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
+void addChildLinkNamesXML(std::shared_ptr<const Link> link, ofstream& os)
{
os << " <link name=\"" << link->name << "\">" << endl;
if ( !!link->visual ) {
@@ -405,14 +405,14 @@ void addChildLinkNamesXML(boost::shared_
}
#endif
- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
+ for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
addChildLinkNamesXML(*child, os);
}
-void addChildJointNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
+void addChildJointNamesXML(std::shared_ptr<const Link> link, ofstream& os)
{
double r, p, y;
- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
+ for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
(*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y);
std::string jtype;
if ( (*child)->parent_joint->type == urdf::Joint::UNKNOWN ) {
@@ -443,7 +443,7 @@ void addChildJointNamesXML(boost::shared
os << " <axis xyz=\"" << (*child)->parent_joint->axis.x << " ";
os << (*child)->parent_joint->axis.y << " " << (*child)->parent_joint->axis.z << "\"/>" << endl;
{
- boost::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
+ std::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
if ( !!jt->limits ) {
os << " <limit ";
@@ -501,7 +501,7 @@ void addChildJointNamesXML(boost::shared
}
}
-void printTreeXML(boost::shared_ptr<const Link> link, string name, string file)
+void printTreeXML(std::shared_ptr<const Link> link, string name, string file)
{
std::ofstream os;
os.open(file.c_str());
@@ -667,7 +667,7 @@ int main(int argc, char** argv)
}
xml_file.close();
- boost::shared_ptr<ModelInterface> robot;
+ std::shared_ptr<ModelInterface> robot;
if( xml_string.find("<COLLADA") != std::string::npos )
{
ROS_DEBUG("Parsing robot collada xml string");
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