+++ /dev/null
-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");
projects / gentoo.git / commitdiff