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Commit a97a5976 authored by Guilhem Saurel's avatar Guilhem Saurel
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use std::shared_ptr

parent 070cb52e
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src/rbprmbuilder.impl.cc
View file @ a97a5976
......@@ -529,7 +529,7 @@ void RbprmBuilder::setPostureWeights(const hpp::floatSeq& postureWeights) throw(
void RbprmBuilder::setReferenceEndEffector(const char* romName, const hpp::floatSeq& ref) throw(hpp::Error) {
std::string name(romName);
hpp::pinocchio::RbPrmDevicePtr_t device =
boost::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot());
std::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot());
if (!device) throw Error("No rbprmDevice in problemSolver");
if (device->robotRoms_.find(name) == device->robotRoms_.end()) throw Error("Device do not contain this rom ");
Configuration_t config(dofArrayToConfig(3, ref));
......@@ -1337,24 +1337,24 @@ Names_t* RbprmBuilder::getCollidingObstacleAtConfig(const ::hpp::floatSeq& confi
std::vector<std::string> res;
std::string name(limbName);
// hpp::pinocchio::RbPrmDevicePtr_t rbprmDevice =
// boost::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot ());
// std::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot ());
const hpp::pinocchio::DevicePtr_t romDevice = romDevices_[name];
pinocchio::Configuration_t q = dofArrayToConfig(romDevice, configuration);
romDevice->currentConfiguration(q);
hpp::pinocchio::RbPrmDevicePtr_t rbprmDevice = boost::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(romDevice);
hpp::pinocchio::RbPrmDevicePtr_t rbprmDevice = std::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(romDevice);
RbPrmPathValidationPtr_t rbprmPathValidation_(
boost::dynamic_pointer_cast<hpp::rbprm::RbPrmPathValidation>(problemSolver()->problem()->pathValidation()));
std::dynamic_pointer_cast<hpp::rbprm::RbPrmPathValidation>(problemSolver()->problem()->pathValidation()));
rbprmPathValidation_->getValidator()->computeAllContacts(true);
core::ValidationReportPtr_t report;
problemSolver()->problem()->configValidations()->validate(q, report);
core::RbprmValidationReportPtr_t rbReport = boost::dynamic_pointer_cast<hpp::core::RbprmValidationReport>(report);
core::RbprmValidationReportPtr_t rbReport = std::dynamic_pointer_cast<hpp::core::RbprmValidationReport>(report);
for (std::map<std::string, core::CollisionValidationReportPtr_t>::const_iterator it = rbReport->ROMReports.begin();
it != rbReport->ROMReports.end(); ++it) {
if (name == it->first)
// if (true)
{
core::AllCollisionsValidationReportPtr_t romReports =
boost::dynamic_pointer_cast<core::AllCollisionsValidationReport>(it->second);
std::dynamic_pointer_cast<core::AllCollisionsValidationReport>(it->second);
if (!romReports) {
hppDout(warning, "For rom : " << it->first
<< " unable to cast in a AllCollisionsValidationReport, did you correctly "
......@@ -1389,25 +1389,25 @@ floatSeqSeq* RbprmBuilder::getContactSurfacesAtConfig(const ::hpp::floatSeq& con
hppDout(notice, "begin getContactSurfacesAtConfig");
std::string name(limbName);
// hpp::pinocchio::RbPrmDevicePtr_t rbprmDevice =
// boost::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot ());
// std::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot ());
const hpp::pinocchio::DevicePtr_t romDevice = romDevices_[name];
pinocchio::Configuration_t q = dofArrayToConfig(romDevice, configuration);
romDevice->currentConfiguration(q);
RbPrmPathValidationPtr_t rbprmPathValidation_(
boost::dynamic_pointer_cast<hpp::rbprm::RbPrmPathValidation>(problemSolver()->problem()->pathValidation()));
std::dynamic_pointer_cast<hpp::rbprm::RbPrmPathValidation>(problemSolver()->problem()->pathValidation()));
rbprmPathValidation_->getValidator()->computeAllContacts(true);
core::ValidationReportPtr_t report;
hppDout(notice, "begin collision check");
problemSolver()->problem()->configValidations()->validate(q, report);
hppDout(notice, "done.");
core::RbprmValidationReportPtr_t rbReport = boost::dynamic_pointer_cast<hpp::core::RbprmValidationReport>(report);
core::RbprmValidationReportPtr_t rbReport = std::dynamic_pointer_cast<hpp::core::RbprmValidationReport>(report);
hppDout(notice, "try to find rom name");
if (rbReport->ROMReports.find(name) == rbReport->ROMReports.end()) {
throw std::runtime_error("The given ROM name is not in collision in the given configuration.");
}
hppDout(notice, "try to cast report");
core::AllCollisionsValidationReportPtr_t romReports =
boost::dynamic_pointer_cast<core::AllCollisionsValidationReport>(rbReport->ROMReports.at(name));
std::dynamic_pointer_cast<core::AllCollisionsValidationReport>(rbReport->ROMReports.at(name));
if (!romReports) {
throw std::runtime_error("Error while retrieving collision reports.");
}
......@@ -1416,7 +1416,7 @@ floatSeqSeq* RbprmBuilder::getContactSurfacesAtConfig(const ::hpp::floatSeq& con
hppDout(notice, "done.");
// Compute the referencePoint for the given configuration : heuristic used to select a 'best' contact surface:
hpp::pinocchio::RbPrmDevicePtr_t rbprmDevice =
boost::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot());
std::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot());
fcl::Vec3f reference = rbprmDevice->getEffectorReference(name);
hppDout(notice, "Reference position for rom" << name << " = " << reference);
// apply transform from currernt config :
......@@ -1702,7 +1702,7 @@ hpp::floatSeqSeq* RbprmBuilder::getPathAsBezier(unsigned short pathId) throw(hpp
PathVectorPtr_t pathVector = problemSolver()->paths()[pathId];
PathPtr_t path = pathVector->pathAtRank(0);
// try to cast path as BezierPath :
BezierPathPtr_t bezierPath = boost::dynamic_pointer_cast<BezierPath>(path);
BezierPathPtr_t bezierPath = std::dynamic_pointer_cast<BezierPath>(path);
if (!bezierPath)
throw std::runtime_error("Not a bezier path at index " + boost::lexical_cast<std::string>(pathId));
......
src/rbprmbuilder.impl.hh
View file @ a97a5976
......@@ -54,7 +54,7 @@ struct BindShooter {
/*const hpp::pinocchio::DevicePtr_t& robot,*/ const hpp::core::Problem& problem) {
affMap_ = problemSolver_->affordanceObjects;
hpp::pinocchio::RbPrmDevicePtr_t robotcast =
boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(problem.robot());
std::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(problem.robot());
if (affMap_.map.empty()) {
throw hpp::Error("No affordances found. Unable to create shooter object.");
}
......@@ -69,7 +69,7 @@ struct BindShooter {
hpp::core::PathValidationPtr_t createPathValidation(const hpp::pinocchio::DevicePtr_t& robot,
const hpp::pinocchio::value_type& val) {
hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
hpp::pinocchio::RbPrmDevicePtr_t robotcast = std::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
affMap_ = problemSolver_->affordanceObjects;
if (affMap_.map.empty()) {
throw hpp::Error("No affordances found. Unable to create Path Validaton object.");
......@@ -85,7 +85,7 @@ struct BindShooter {
hpp::core::PathValidationPtr_t createDynamicPathValidation(const hpp::pinocchio::DevicePtr_t& robot,
const hpp::pinocchio::value_type& val) {
hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
hpp::pinocchio::RbPrmDevicePtr_t robotcast = std::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
affMap_ = problemSolver_->affordanceObjects;
if (affMap_.map.empty()) {
throw hpp::Error("No affordances found. Unable to create Path Validaton object.");
......
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