[ros-robot-model] 02/03: Rebase patches
Jochen Sprickerhof
jspricke at moszumanska.debian.org
Fri Jan 13 09:53:48 UTC 2017
This is an automated email from the git hooks/post-receive script.
jspricke pushed a commit to branch master
in repository ros-robot-model.
commit 0b27b883fdd27fd85da52abbbeb7eda7def4a672
Author: Jochen Sprickerhof <git at jochen.sprickerhof.de>
Date: Fri Jan 13 10:38:14 2017 +0100
Rebase patches
---
.../0002-Add-Debian-specific-SOVERSION.patch | 6 +-
...urdf-ShredPtr-instead-of-boost-shared_ptr.patch | 568 ---------------------
debian/patches/0004-Add-missing-namespaces.patch | 25 -
debian/patches/series | 2 -
4 files changed, 3 insertions(+), 598 deletions(-)
diff --git a/debian/patches/0002-Add-Debian-specific-SOVERSION.patch b/debian/patches/0002-Add-Debian-specific-SOVERSION.patch
index 8b1c7e2..ce4fdab 100644
--- a/debian/patches/0002-Add-Debian-specific-SOVERSION.patch
+++ b/debian/patches/0002-Add-Debian-specific-SOVERSION.patch
@@ -10,7 +10,7 @@ Subject: Add Debian specific SOVERSION
4 files changed, 4 insertions(+)
diff --git a/collada_parser/CMakeLists.txt b/collada_parser/CMakeLists.txt
-index 43ed0c8..2ff275e 100644
+index e35694e..7d8c8b0 100644
--- a/collada_parser/CMakeLists.txt
+++ b/collada_parser/CMakeLists.txt
@@ -37,6 +37,7 @@ add_library(${PROJECT_NAME} src/collada_parser.cpp)
@@ -46,10 +46,10 @@ index 43b96b7..dd6e6d6 100644
add_executable(check_kdl_parser src/check_kdl_parser.cpp )
target_link_libraries(check_kdl_parser ${PROJECT_NAME})
diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
-index e65181f..0c004cc 100644
+index eeed0bd..5236ac2 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
-@@ -43,6 +43,7 @@ link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS})
+@@ -42,6 +42,7 @@ link_directories(${Boost_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})
add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES})
diff --git a/debian/patches/0003-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch b/debian/patches/0003-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch
deleted file mode 100644
index 542dd69..0000000
--- a/debian/patches/0003-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch
+++ /dev/null
@@ -1,568 +0,0 @@
-From: Jochen Sprickerhof <git at jochen.sprickerhof.de>
-Date: Tue, 23 Aug 2016 15:07:25 +0200
-Subject: Use urdf::*ShredPtr instead of boost::shared_ptr
-
-urdfdom_headers uses C++ std::shared_ptr. As it exports it as custom
-*SharedPtr type, we can use the to sty compatible.
----
- .../include/collada_parser/collada_parser.h | 4 +-
- .../include/collada_parser/collada_parser_plugin.h | 2 +-
- collada_parser/src/collada_parser.cpp | 56 ++++++++++++----------
- collada_parser/src/collada_parser_plugin.cpp | 2 +-
- collada_urdf/src/collada_to_urdf.cpp | 14 +++---
- collada_urdf/src/collada_urdf.cpp | 32 ++++++-------
- kdl_parser/src/kdl_parser.cpp | 8 ++--
- urdf/src/model.cpp | 2 +-
- urdf/test/test_robot_model_parser.cpp | 8 ++--
- .../include/urdf_parser_plugin/parser.h | 4 +-
- 10 files changed, 70 insertions(+), 62 deletions(-)
-
-diff --git a/collada_parser/include/collada_parser/collada_parser.h b/collada_parser/include/collada_parser/collada_parser.h
-index da72748..a41c8d2 100644
---- a/collada_parser/include/collada_parser/collada_parser.h
-+++ b/collada_parser/include/collada_parser/collada_parser.h
-@@ -41,13 +41,13 @@
- #include <map>
- #include <boost/function.hpp>
-
--#include <urdf_model/model.h>
-+#include <urdf_world/types.h>
-
-
- namespace urdf {
-
- /// \brief Load Model from string
--boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_string );
-+urdf::ModelInterfaceSharedPtr parseCollada(const std::string &xml_string );
-
- }
-
-diff --git a/collada_parser/include/collada_parser/collada_parser_plugin.h b/collada_parser/include/collada_parser/collada_parser_plugin.h
-index 32974db..ac699c0 100644
---- a/collada_parser/include/collada_parser/collada_parser_plugin.h
-+++ b/collada_parser/include/collada_parser/collada_parser_plugin.h
-@@ -46,7 +46,7 @@ class ColladaURDFParser : public URDFParser
- {
- public:
-
-- virtual boost::shared_ptr<ModelInterface> parse(const std::string &xml_string);
-+ virtual urdf::ModelInterfaceSharedPtr parse(const std::string &xml_string);
- };
-
- }
-diff --git a/collada_parser/src/collada_parser.cpp b/collada_parser/src/collada_parser.cpp
-index 75afeb6..959b2d7 100644
---- a/collada_parser/src/collada_parser.cpp
-+++ b/collada_parser/src/collada_parser.cpp
-@@ -176,7 +176,11 @@ public:
- USERDATA(double scale) : scale(scale) {
- }
- double scale;
-+#if __cplusplus <= 199711L
- boost::shared_ptr<void> p; ///< custom managed data
-+#else
-+ std::shared_ptr<void> p; ///< custom managed data
-+#endif
- };
-
- enum GeomType {
-@@ -409,7 +413,7 @@ public:
- };
-
- public:
-- ColladaModelReader(boost::shared_ptr<ModelInterface> model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) {
-+ ColladaModelReader(urdf::ModelInterfaceSharedPtr model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) {
- daeErrorHandler::setErrorHandler(this);
- _resourcedir = ".";
- }
-@@ -715,7 +719,7 @@ protected:
- }
-
- // find the target joint
-- boost::shared_ptr<Joint> pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf);
-+ urdf::JointSharedPtr pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf);
- if (!pjoint) {
- continue;
- }
-@@ -785,7 +789,7 @@ protected:
- }
- BOOST_ASSERT(psymboljoint->hasAttribute("encoding"));
- BOOST_ASSERT(psymboljoint->getAttribute("encoding")==std::string("COLLADA"));
-- boost::shared_ptr<Joint> pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf);
-+ urdf::JointSharedPtr pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf);
- if( !!pbasejoint ) {
- // set the mimic properties
- pjoint->mimic.reset(new JointMimic());
-@@ -801,7 +805,7 @@ protected:
- }
-
- /// \brief Extract Link info and add it to an existing body
-- boost::shared_ptr<Link> _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector<domJointRef>& vdomjoints, const KinematicsSceneBindings& bindings) {
-+ urdf::LinkSharedPtr _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector<domJointRef>& vdomjoints, const KinematicsSceneBindings& bindings) {
- const std::list<JointAxisBinding>& listAxisBindings = bindings.listAxisBindings;
- // Set link name with the name of the COLLADA's Link
- std::string linkname = _ExtractLinkName(pdomlink);
-@@ -817,7 +821,7 @@ protected:
- }
- }
-
-- boost::shared_ptr<Link> plink;
-+ urdf::LinkSharedPtr plink;
- _model->getLink(linkname,plink);
- if( !plink ) {
- plink.reset(new Link());
-@@ -921,7 +925,7 @@ protected:
-
- if (!pdomjoint || pdomjoint->typeID() != domJoint::ID()) {
- ROS_WARN_STREAM(str(boost::format("could not find attached joint %s!\n")%pattfull->getJoint()));
-- return boost::shared_ptr<Link>();
-+ return urdf::LinkSharedPtr();
- }
-
- // get direct child link
-@@ -952,7 +956,7 @@ protected:
- }
-
- // create the joints before creating the child links
-- std::vector<boost::shared_ptr<Joint> > vjoints(vdomaxes.getCount());
-+ std::vector<urdf::JointSharedPtr > vjoints(vdomaxes.getCount());
- for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) {
- bool joint_active = true; // if not active, put into the passive list
- FOREACHC(itaxisbinding,listAxisBindings) {
-@@ -966,7 +970,7 @@ protected:
- }
- }
-
-- boost::shared_ptr<Joint> pjoint(new Joint());
-+ urdf::JointSharedPtr pjoint(new Joint());
- pjoint->limits.reset(new JointLimits());
- pjoint->limits->velocity = 0.0;
- pjoint->limits->effort = 0.0;
-@@ -995,12 +999,16 @@ protected:
- }
-
- _getUserData(pdomjoint)->p = pjoint;
-+#if __cplusplus <= 199711L
- _getUserData(pdomaxis)->p = boost::shared_ptr<int>(new int(_model->joints_.size()));
-+#else
-+ _getUserData(pdomaxis)->p = std::shared_ptr<int>(new int(_model->joints_.size()));
-+#endif
- _model->joints_[pjoint->name] = pjoint;
- vjoints[ic] = pjoint;
- }
-
-- boost::shared_ptr<Link> pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, bindings);
-+ urdf::LinkSharedPtr pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, bindings);
-
- if (!pchildlink) {
- ROS_WARN_STREAM(str(boost::format("Link has no child: %s\n")%plink->name));
-@@ -1035,7 +1043,7 @@ protected:
- }
-
- ROS_DEBUG_STREAM(str(boost::format("Joint %s assigned %d \n")%vjoints[ic]->name%ic));
-- boost::shared_ptr<Joint> pjoint = vjoints[ic];
-+ urdf::JointSharedPtr pjoint = vjoints[ic];
- pjoint->child_link_name = pchildlink->name;
-
- #define PRINT_POSE(pname, apose) ROS_DEBUG(pname" pos: %f %f %f, rot: %f %f %f %f", \
-@@ -1154,8 +1162,8 @@ protected:
-
- plink->visual->geometry = _CreateGeometry(plink->name, listGeomProperties);
- // visual_groups deprecated
-- //boost::shared_ptr<std::vector<boost::shared_ptr<Visual > > > viss;
-- //viss.reset(new std::vector<boost::shared_ptr<Visual > >);
-+ //boost::shared_ptr<std::vector<urdf::VisualSharedPtr > > viss;
-+ //viss.reset(new std::vector<urdf::VisualSharedPtr >);
- //viss->push_back(plink->visual);
- //plink->visual_groups.insert(std::make_pair("default", viss));
-
-@@ -1170,15 +1178,15 @@ protected:
- }
-
- // collision_groups deprecated
-- //boost::shared_ptr<std::vector<boost::shared_ptr<Collision > > > cols;
-- //cols.reset(new std::vector<boost::shared_ptr<Collision > >);
-+ //boost::shared_ptr<std::vector<urdf::CollisionSharedPtr > > cols;
-+ //cols.reset(new std::vector<urdf::CollisionSharedPtr >);
- //cols->push_back(plink->collision);
- //plink->collision_groups.insert(std::make_pair("default", cols));
-
- return plink;
- }
-
-- boost::shared_ptr<Geometry> _CreateGeometry(const std::string& name, const std::list<GEOMPROPERTIES>& listGeomProperties)
-+ urdf::GeometrySharedPtr _CreateGeometry(const std::string& name, const std::list<GEOMPROPERTIES>& listGeomProperties)
- {
- std::vector<std::vector<Vector3> > vertices;
- std::vector<std::vector<int> > indices;
-@@ -1219,12 +1227,12 @@ protected:
- }
-
- if (vert_counter == 0) {
-- boost::shared_ptr<Mesh> ret;
-+ urdf::MeshSharedPtr ret;
- ret.reset();
- return ret;
- }
-
-- boost::shared_ptr<Mesh> geometry(new Mesh());
-+ urdf::MeshSharedPtr geometry(new Mesh());
- geometry->type = Geometry::MESH;
- geometry->scale.x = 1;
- geometry->scale.y = 1;
-@@ -2020,7 +2028,7 @@ protected:
- //std::string aname = pextra->getAttribute("name");
- domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array());
- if( !!tec ) {
-- boost::shared_ptr<Joint> pjoint;
-+ urdf::JointSharedPtr pjoint;
- daeElementRef domactuator;
- {
- daeElementRef bact = tec->getChild("bind_actuator");
-@@ -2413,7 +2421,7 @@ protected:
- return name.substr(pos+1)==type;
- }
-
-- boost::shared_ptr<Joint> _getJointFromRef(xsToken targetref, daeElementRef peltref) {
-+ urdf::JointSharedPtr _getJointFromRef(xsToken targetref, daeElementRef peltref) {
- daeElement* peltjoint = daeSidRef(targetref, peltref).resolve().elt;
- domJointRef pdomjoint = daeSafeCast<domJoint> (peltjoint);
-
-@@ -2426,10 +2434,10 @@ protected:
-
- if (!pdomjoint || pdomjoint->typeID() != domJoint::ID() || !pdomjoint->getName()) {
- ROS_WARN_STREAM(str(boost::format("could not find collada joint %s!\n")%targetref));
-- return boost::shared_ptr<Joint>();
-+ return urdf::JointSharedPtr();
- }
-
-- boost::shared_ptr<Joint> pjoint;
-+ urdf::JointSharedPtr pjoint;
- std::string name(pdomjoint->getName());
- if (_model->joints_.find(name) == _model->joints_.end()) {
- pjoint.reset();
-@@ -2797,7 +2805,7 @@ protected:
- int _nGlobalSensorId, _nGlobalManipulatorId;
- std::string _filename;
- std::string _resourcedir;
-- boost::shared_ptr<ModelInterface> _model;
-+ urdf::ModelInterfaceSharedPtr _model;
- Pose _RootOrigin;
- Pose _VisualRootOrigin;
- };
-@@ -2805,9 +2813,9 @@ protected:
-
-
-
--boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_str)
-+urdf::ModelInterfaceSharedPtr parseCollada(const std::string &xml_str)
- {
-- boost::shared_ptr<ModelInterface> model(new ModelInterface);
-+ urdf::ModelInterfaceSharedPtr model(new ModelInterface);
-
- ColladaModelReader reader(model);
- if (!reader.InitFromData(xml_str))
-diff --git a/collada_parser/src/collada_parser_plugin.cpp b/collada_parser/src/collada_parser_plugin.cpp
-index c4d98b0..d8f5369 100644
---- a/collada_parser/src/collada_parser_plugin.cpp
-+++ b/collada_parser/src/collada_parser_plugin.cpp
-@@ -38,7 +38,7 @@
- #include "collada_parser/collada_parser.h"
- #include <class_loader/class_loader.h>
-
--boost::shared_ptr<urdf::ModelInterface> urdf::ColladaURDFParser::parse(const std::string &xml_string)
-+urdf::ModelInterfaceSharedPtr urdf::ColladaURDFParser::parse(const std::string &xml_string)
- {
- return urdf::parseCollada(xml_string);
- }
-diff --git a/collada_urdf/src/collada_to_urdf.cpp b/collada_urdf/src/collada_to_urdf.cpp
-index 3a4d6e6..14e9741 100644
---- a/collada_urdf/src/collada_to_urdf.cpp
-+++ b/collada_urdf/src/collada_to_urdf.cpp
-@@ -188,7 +188,7 @@ void assimp_calc_bbox(string fname, float &minx, float &miny, float &minz,
- }
- }
-
--void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
-+void addChildLinkNamesXML(urdf::LinkConstSharedPtr link, ofstream& os)
- {
- os << " <link name=\"" << link->name << "\">" << endl;
- if ( !!link->visual ) {
-@@ -405,14 +405,14 @@ void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
- }
- #endif
-
-- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
-+ for (std::vector<urdf::LinkSharedPtr >::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(urdf::LinkConstSharedPtr 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<urdf::LinkSharedPtr >::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_ptr<const Link> link, ofstream& os)
- 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);
-+ urdf::JointSharedPtr jt((*child)->parent_joint);
-
- if ( !!jt->limits ) {
- os << " <limit ";
-@@ -501,7 +501,7 @@ void addChildJointNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
- }
- }
-
--void printTreeXML(boost::shared_ptr<const Link> link, string name, string file)
-+void printTreeXML(urdf::LinkConstSharedPtr 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;
-+ urdf::ModelInterfaceSharedPtr robot;
- if( xml_string.find("<COLLADA") != std::string::npos )
- {
- ROS_DEBUG("Parsing robot collada xml string");
-diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
-index e6bfebe..fc1a720 100644
---- a/collada_urdf/src/collada_urdf.cpp
-+++ b/collada_urdf/src/collada_urdf.cpp
-@@ -544,7 +544,7 @@ private:
- domInstance_with_extraRef piscene;
- };
-
-- typedef std::map< boost::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
-+ typedef std::map< urdf::LinkConstSharedPtr, urdf::Pose > MAPLINKPOSES;
- struct LINKOUTPUT
- {
- list<pair<int,string> > listusedlinks;
-@@ -568,7 +568,7 @@ private:
- axis_output() : iaxis(0) {
- }
- string sid, nodesid;
-- boost::shared_ptr<const urdf::Joint> pjoint;
-+ urdf::JointConstSharedPtr pjoint;
- int iaxis;
- string jointnodesid;
- };
-@@ -794,7 +794,7 @@ 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;
-+ urdf::JointConstSharedPtr pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
- BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof);
- //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis;
-
-@@ -972,7 +972,7 @@ protected:
- kmout->vlinksids.resize(_robot.links_.size());
-
- FOREACHC(itjoint, _robot.joints_) {
-- boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
-+ urdf::JointSharedPtr 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);
-@@ -1045,7 +1045,7 @@ 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;
-+ urdf::JointSharedPtr pjoint = itjoint->second;
- if( !pjoint->mimic ) {
- continue;
- }
-@@ -1131,7 +1131,7 @@ 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(urdf::LinkConstSharedPtr plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
- {
- LINKOUTPUT out;
- int linkindex = _maplinkindices[plink];
-@@ -1147,8 +1147,8 @@ protected:
- pnode->setSid(nodesid.c_str());
- pnode->setName(plink->name.c_str());
-
-- boost::shared_ptr<urdf::Geometry> geometry;
-- boost::shared_ptr<urdf::Material> material;
-+ urdf::GeometrySharedPtr geometry;
-+ urdf::MaterialSharedPtr material;
- urdf::Pose geometry_origin;
- if( !!plink->visual ) {
- geometry = plink->visual->geometry;
-@@ -1167,7 +1167,7 @@ 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<urdf::VisualSharedPtr >::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));
-@@ -1214,7 +1214,7 @@ protected:
-
- // process all children
- FOREACHC(itjoint, plink->child_joints) {
-- boost::shared_ptr<urdf::Joint> pjoint = *itjoint;
-+ urdf::JointSharedPtr pjoint = *itjoint;
- int index = _mapjointindices[pjoint];
-
- // <attachment_full joint="k1/joint0">
-@@ -1275,7 +1275,7 @@ protected:
- return out;
- }
-
-- domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
-+ domGeometryRef _WriteGeometry(urdf::GeometrySharedPtr 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());
-@@ -1314,7 +1314,7 @@ protected:
- return cgeometry;
- }
-
-- void _WriteMaterial(const string& geometry_id, boost::shared_ptr<urdf::Material> material)
-+ void _WriteMaterial(const string& geometry_id, urdf::MaterialSharedPtr material)
- {
- string effid = geometry_id+string("_eff");
- string matid = geometry_id+string("_mat");
-@@ -1392,7 +1392,7 @@ 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;
-+ urdf::InertialSharedPtr 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));
-@@ -1922,9 +1922,9 @@ 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< urdf::JointConstSharedPtr, int > _mapjointindices;
-+ std::map< urdf::LinkConstSharedPtr, int > _maplinkindices;
-+ std::map< urdf::MaterialConstSharedPtr, int > _mapmaterialindices;
- Assimp::Importer _importer;
- };
-
-diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp
-index 9777320..a262364 100644
---- a/kdl_parser/src/kdl_parser.cpp
-+++ b/kdl_parser/src/kdl_parser.cpp
-@@ -64,7 +64,7 @@ Frame toKdl(urdf::Pose p)
- }
-
- // construct joint
--Joint toKdl(boost::shared_ptr<urdf::Joint> jnt)
-+Joint toKdl(urdf::JointSharedPtr jnt)
- {
- Frame F_parent_jnt = toKdl(jnt->parent_to_joint_origin_transform);
-
-@@ -93,7 +93,7 @@ Joint toKdl(boost::shared_ptr<urdf::Joint> jnt)
- }
-
- // construct inertia
--RigidBodyInertia toKdl(boost::shared_ptr<urdf::Inertial> i)
-+RigidBodyInertia toKdl(urdf::InertialSharedPtr i)
- {
- Frame origin = toKdl(i->origin);
-
-@@ -124,9 +124,9 @@ RigidBodyInertia toKdl(boost::shared_ptr<urdf::Inertial> i)
-
-
- // recursive function to walk through tree
--bool addChildrenToTree(boost::shared_ptr<const urdf::Link> root, Tree& tree)
-+bool addChildrenToTree(urdf::LinkConstSharedPtr root, Tree& tree)
- {
-- std::vector<boost::shared_ptr<urdf::Link> > children = root->child_links;
-+ std::vector<urdf::LinkSharedPtr > children = root->child_links;
- ROS_DEBUG("Link %s had %i children", root->name.c_str(), (int)children.size());
-
- // constructs the optional inertia
-diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp
-index a721056..69f96b8 100644
---- a/urdf/src/model.cpp
-+++ b/urdf/src/model.cpp
-@@ -136,7 +136,7 @@ bool Model::initXml(TiXmlElement *robot_xml)
-
- bool Model::initString(const std::string& xml_string)
- {
-- boost::shared_ptr<ModelInterface> model;
-+ urdf::ModelInterfaceSharedPtr model;
-
- // necessary for COLLADA compatibility
- if( IsColladaData(xml_string) ) {
-diff --git a/urdf/test/test_robot_model_parser.cpp b/urdf/test/test_robot_model_parser.cpp
-index f6286a5..81f90af 100644
---- a/urdf/test/test_robot_model_parser.cpp
-+++ b/urdf/test/test_robot_model_parser.cpp
-@@ -54,7 +54,7 @@ public:
- bool checkModel(urdf::Model & robot)
- {
- // get root link
-- boost::shared_ptr<const Link> root_link = robot.getRoot();
-+ urdf::LinkConstSharedPtr root_link = robot.getRoot();
- if (!root_link)
- {
- ROS_ERROR("no root link %s", robot.getName().c_str());
-@@ -79,12 +79,12 @@ protected:
- {
- }
-
-- bool traverse_tree(boost::shared_ptr<const Link> link,int level = 0)
-+ bool traverse_tree(urdf::LinkConstSharedPtr link,int level = 0)
- {
- ROS_INFO("Traversing tree at level %d, link size %lu", level, link->child_links.size());
- level+=2;
- bool retval = true;
-- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
-+ for (std::vector<urdf::LinkSharedPtr>::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
- {
- ++num_links;
- if (*child && (*child)->parent_joint)
-@@ -142,7 +142,7 @@ TEST_F(TestParser, test)
- ASSERT_TRUE(robot.initFile(folder + file));
-
- EXPECT_EQ(robot.getName(), robot_name);
-- boost::shared_ptr<const urdf::Link> root = robot.getRoot();
-+ urdf::LinkConstSharedPtr root = robot.getRoot();
- ASSERT_TRUE(static_cast<bool>(root));
- EXPECT_EQ(root->name, root_name);
-
-diff --git a/urdf_parser_plugin/include/urdf_parser_plugin/parser.h b/urdf_parser_plugin/include/urdf_parser_plugin/parser.h
-index 7032b13..a2fbf63 100644
---- a/urdf_parser_plugin/include/urdf_parser_plugin/parser.h
-+++ b/urdf_parser_plugin/include/urdf_parser_plugin/parser.h
-@@ -37,7 +37,7 @@
- #ifndef URDF_PARSER_PLUGIN_H
- #define URDF_PARSER_PLUGIN_H
-
--#include <urdf_model/model.h>
-+#include <urdf_world/types.h>
-
- namespace urdf
- {
-@@ -54,7 +54,7 @@ public:
- }
-
- /// \brief Load Model from string
-- virtual boost::shared_ptr<ModelInterface> parse(const std::string &xml_string) = 0;
-+ virtual urdf::ModelInterfaceSharedPtr parse(const std::string &xml_string) = 0;
- };
-
- }
diff --git a/debian/patches/0004-Add-missing-namespaces.patch b/debian/patches/0004-Add-missing-namespaces.patch
deleted file mode 100644
index 0646b74..0000000
--- a/debian/patches/0004-Add-missing-namespaces.patch
+++ /dev/null
@@ -1,25 +0,0 @@
-From: Jochen Sprickerhof <git at jochen.sprickerhof.de>
-Date: Fri, 4 Nov 2016 22:54:54 +0100
-Subject: Add missing namespaces
-
----
- urdf/urdfdom_compatibility.h.in | 6 +++---
- 1 file changed, 3 insertions(+), 3 deletions(-)
-
-diff --git a/urdf/urdfdom_compatibility.h.in b/urdf/urdfdom_compatibility.h.in
-index eddbc38..ffb1e6d 100644
---- a/urdf/urdfdom_compatibility.h.in
-+++ b/urdf/urdfdom_compatibility.h.in
-@@ -75,9 +75,9 @@ URDF_TYPEDEF_CLASS_POINTER(ModelInterface);
-
- #else // urdfdom <= 0.4
-
--typedef std::shared_ptr<ModelInterface> ModelInterfaceSharedPtr;
--typedef std::shared_ptr<const ModelInterface> ModelInterfaceConstSharedPtr;
--typedef std::weak_ptr<ModelInterface> ModelInterfaceWeakPtr;
-+typedef std::shared_ptr<urdf::ModelInterface> ModelInterfaceSharedPtr;
-+typedef std::shared_ptr<const urdf::ModelInterface> ModelInterfaceConstSharedPtr;
-+typedef std::weak_ptr<urdf::ModelInterface> ModelInterfaceWeakPtr;
-
- #endif // urdfdom > 0.4
-
diff --git a/debian/patches/series b/debian/patches/series
index 9ad3ce0..c0916ef 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -1,4 +1,2 @@
0001-Add-CMakeLists.txt.patch
0002-Add-Debian-specific-SOVERSION.patch
-0003-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch
-0004-Add-missing-namespaces.patch
--
Alioth's /usr/local/bin/git-commit-notice on /srv/git.debian.org/git/debian-science/packages/ros/ros-robot-model.git
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