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Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
===================================================================
--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.cpp
+++ rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
@@ -200,7 +200,7 @@ namespace rviz
robot_description_ = content;
- robot_model_ = boost::shared_ptr<urdf::Model>(new urdf::Model());
+ robot_model_ = std::shared_ptr<urdf::Model>(new urdf::Model());
if (!robot_model_->initString(content))
{
ROS_ERROR("Unable to parse URDF description!");
@@ -208,11 +208,11 @@ namespace rviz
return;
}
setStatus(rviz::StatusProperty::Ok, "URDF", "Robot model parserd Ok");
- for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
- boost::shared_ptr<urdf::Joint> joint = it->second;
+ for (std::map<std::string, std::shared_ptr<urdf::Joint> >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
+ std::shared_ptr<urdf::Joint> joint = it->second;
if ( joint->type == urdf::Joint::REVOLUTE ) {
std::string joint_name = it->first;
- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
+ std::shared_ptr<urdf::JointLimits> limit = joint->limits;
joints_[joint_name] = createJoint(joint_name);
//joints_[joint_name]->max_effort_property_->setFloat(limit->effort);
//joints_[joint_name]->max_effort_property_->setReadOnly( true );
Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.h
===================================================================
--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.h
+++ rviz-1.12.1/src/rviz/default_plugin/effort_display.h
@@ -36,13 +36,13 @@ namespace tf
# undef TF_MESSAGEFILTER_DEBUG
#endif
#define TF_MESSAGEFILTER_DEBUG(fmt, ...) \
- ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: "fmt, getTargetFramesString().c_str(), __VA_ARGS__)
+ ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: " fmt, getTargetFramesString().c_str(), __VA_ARGS__)
#ifdef TF_MESSAGEFILTER_WARN
# undef TF_MESSAGEFILTER_WARN
#endif
#define TF_MESSAGEFILTER_WARN(fmt, ...) \
- ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: "fmt, getTargetFramesString().c_str(), __VA_ARGS__)
+ ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: " fmt, getTargetFramesString().c_str(), __VA_ARGS__)
class MessageFilterJointState : public MessageFilter<sensor_msgs::JointState>
{
@@ -706,7 +706,7 @@ namespace rviz
void clear();
// The object for urdf model
- boost::shared_ptr<urdf::Model> robot_model_;
+ std::shared_ptr<urdf::Model> robot_model_;
//
std::string robot_description_;
Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
===================================================================
--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.cpp
+++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
@@ -13,7 +13,7 @@
namespace rviz
{
- EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, boost::shared_ptr<urdf::Model> urdf_model )
+ EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, std::shared_ptr<urdf::Model> urdf_model )
{
scene_manager_ = scene_manager;
@@ -31,7 +31,7 @@ namespace rviz
// We create the arrow object within the frame node so that we can
// set its position and direction relative to its header frame.
- for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
+ for (std::map<std::string, std::shared_ptr<urdf::Joint> >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
if ( it->second->type == urdf::Joint::REVOLUTE ) {
std::string joint_name = it->first;
effort_enabled_[joint_name] = true;
@@ -103,7 +103,7 @@ namespace rviz
if ( ! effort_enabled_[joint_name] ) continue;
//tf::Transform offset = poseFromJoint(joint);
- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
+ std::shared_ptr<urdf::JointLimits> limit = joint->limits;
double max_effort = limit->effort, effort_value = 0.05;
if ( max_effort != 0.0 )
Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
===================================================================
--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.h
+++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
@@ -33,7 +33,7 @@ class EffortVisual
public:
// Constructor. Creates the visual stuff and puts it into the
// scene, but in an unconfigured state.
- EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, boost::shared_ptr<urdf::Model> urdf_model );
+ EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, std::shared_ptr<urdf::Model> urdf_model );
// Destructor. Removes the visual stuff from the scene.
virtual ~EffortVisual();
@@ -85,7 +85,7 @@ private:
float width_, scale_;
// The object for urdf model
- boost::shared_ptr<urdf::Model> urdf_model_;
+ std::shared_ptr<urdf::Model> urdf_model_;
};
} // end namespace rviz
Index: rviz-1.12.1/src/rviz/robot/robot.cpp
===================================================================
--- rviz-1.12.1.orig/src/rviz/robot/robot.cpp
+++ rviz-1.12.1/src/rviz/robot/robot.cpp
@@ -236,7 +236,7 @@ void Robot::clear()
RobotLink* Robot::LinkFactory::createLink(
Robot* robot,
- const boost::shared_ptr<const urdf::Link>& link,
+ const std::shared_ptr<const urdf::Link>& link,
const std::string& parent_joint_name,
bool visual,
bool collision)
@@ -246,7 +246,7 @@ RobotLink* Robot::LinkFactory::createLin
RobotJoint* Robot::LinkFactory::createJoint(
Robot* robot,
- const boost::shared_ptr<const urdf::Joint>& joint)
+ const std::shared_ptr<const urdf::Joint>& joint)
{
return new RobotJoint(robot, joint);
}
@@ -265,12 +265,12 @@ void Robot::load( const urdf::ModelInter
// Create properties for each link.
// Properties are not added to display until changedLinkTreeStyle() is called (below).
{
- typedef std::map<std::string, boost::shared_ptr<urdf::Link> > M_NameToUrdfLink;
+ typedef std::map<std::string, std::shared_ptr<urdf::Link> > M_NameToUrdfLink;
M_NameToUrdfLink::const_iterator link_it = urdf.links_.begin();
M_NameToUrdfLink::const_iterator link_end = urdf.links_.end();
for( ; link_it != link_end; ++link_it )
{
- const boost::shared_ptr<const urdf::Link>& urdf_link = link_it->second;
+ const std::shared_ptr<const urdf::Link>& urdf_link = link_it->second;
std::string parent_joint_name;
if (urdf_link != urdf.getRoot() && urdf_link->parent_joint)
@@ -298,12 +298,12 @@ void Robot::load( const urdf::ModelInter
// Create properties for each joint.
// Properties are not added to display until changedLinkTreeStyle() is called (below).
{
- typedef std::map<std::string, boost::shared_ptr<urdf::Joint> > M_NameToUrdfJoint;
+ typedef std::map<std::string, std::shared_ptr<urdf::Joint> > M_NameToUrdfJoint;
M_NameToUrdfJoint::const_iterator joint_it = urdf.joints_.begin();
M_NameToUrdfJoint::const_iterator joint_end = urdf.joints_.end();
for( ; joint_it != joint_end; ++joint_it )
{
- const boost::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
+ const std::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
RobotJoint* joint = link_factory_->createJoint( this, urdf_joint );
joints_[urdf_joint->name] = joint;
Index: rviz-1.12.1/src/rviz/robot/robot.h
===================================================================
--- rviz-1.12.1.orig/src/rviz/robot/robot.h
+++ rviz-1.12.1/src/rviz/robot/robot.h
@@ -173,12 +173,12 @@ public:
{
public:
virtual RobotLink* createLink( Robot* robot,
- const boost::shared_ptr<const urdf::Link>& link,
+ const std::shared_ptr<const urdf::Link>& link,
const std::string& parent_joint_name,
bool visual,
bool collision);
virtual RobotJoint* createJoint( Robot* robot,
- const boost::shared_ptr<const urdf::Joint>& joint);
+ const std::shared_ptr<const urdf::Joint>& joint);
};
/** Call this before load() to subclass the RobotLink or RobotJoint class used in the link property.
Index: rviz-1.12.1/src/rviz/robot/robot_joint.cpp
===================================================================
--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.cpp
+++ rviz-1.12.1/src/rviz/robot/robot_joint.cpp
@@ -46,7 +46,7 @@
namespace rviz
{
-RobotJoint::RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint )
+RobotJoint::RobotJoint( Robot* robot, const std::shared_ptr<const urdf::Joint>& joint )
: robot_( robot )
, name_( joint->name )
, child_link_name_( joint->child_link_name )
Index: rviz-1.12.1/src/rviz/robot/robot_joint.h
===================================================================
--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.h
+++ rviz-1.12.1/src/rviz/robot/robot_joint.h
@@ -89,7 +89,7 @@ class RobotJoint: public QObject
{
Q_OBJECT
public:
- RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint );
+ RobotJoint( Robot* robot, const std::shared_ptr<const urdf::Joint>& joint );
virtual ~RobotJoint();
Index: rviz-1.12.1/src/rviz/robot/robot_link.cpp
===================================================================
--- rviz-1.12.1.orig/src/rviz/robot/robot_link.cpp
+++ rviz-1.12.1/src/rviz/robot/robot_link.cpp
@@ -262,8 +262,8 @@ RobotLink::RobotLink( Robot* robot,
desc << " child joint: ";
}
- std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_it = link->child_joints.begin();
- std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_end = link->child_joints.end();
+ std::vector<std::shared_ptr<urdf::Joint> >::const_iterator child_it = link->child_joints.begin();
+ std::vector<std::shared_ptr<urdf::Joint> >::const_iterator child_end = link->child_joints.end();
for ( ; child_it != child_end ; ++child_it )
{
urdf::Joint *child_joint = child_it->get();
@@ -674,10 +674,10 @@ void RobotLink::createCollision(const ur
}
}
#else
- std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
+ std::vector<std::shared_ptr<urdf::Collision> >::const_iterator vi;
for( vi = link->collision_array.begin(); vi != link->collision_array.end(); vi++ )
{
- boost::shared_ptr<urdf::Collision> collision = *vi;
+ std::shared_ptr<urdf::Collision> collision = *vi;
if( collision && collision->geometry )
{
Ogre::Entity* collision_mesh = NULL;
@@ -731,10 +731,10 @@ void RobotLink::createVisual(const urdf:
}
}
#else
- std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
+ std::vector<std::shared_ptr<urdf::Visual> >::const_iterator vi;
for( vi = link->visual_array.begin(); vi != link->visual_array.end(); vi++ )
{
- boost::shared_ptr<urdf::Visual> visual = *vi;
+ std::shared_ptr<urdf::Visual> visual = *vi;
if( visual && visual->geometry )
{
Ogre::Entity* visual_mesh = NULL;
Index: rviz-1.12.1/src/rviz/robot/robot_link.h
===================================================================
--- rviz-1.12.1.orig/src/rviz/robot/robot_link.h
+++ rviz-1.12.1/src/rviz/robot/robot_link.h
@@ -62,7 +62,7 @@ namespace urdf
{
class ModelInterface;
class Link;
-typedef boost::shared_ptr<const Link> LinkConstPtr;
+typedef std::shared_ptr<const Link> LinkConstPtr;
class Geometry;
typedef boost::shared_ptr<const Geometry> GeometryConstPtr;
class Pose;
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