[Fawkes Git] branch/vmatare/kdl_parser-kinetic-fix: created (1.0.0-1-g1931286)

Victor Mataré matare at lih.rwth-aachen.de
Mon Jan 16 12:07:42 CET 2017


Changes have been pushed for the project "Fawkes Robotics Software Framework".

Gitweb: http://git.fawkesrobotics.org/fawkes.git
Trac:   http://trac.fawkesrobotics.org

The branch, vmatare/kdl_parser-kinetic-fix has been created
        at  19312861a06437d7f587f225599a31d97e4203ec (commit)

http://git.fawkesrobotics.org/fawkes.git/vmatare/kdl_parser-kinetic-fix

- *Log* ---------------------------------------------------------------
commit 19312861a06437d7f587f225599a31d97e4203ec
Author:     Victor Mataré <matare at lih.rwth-aachen.de>
AuthorDate: Mon Jan 16 12:07:40 2017 +0100
Commit:     Victor Mataré <matare at lih.rwth-aachen.de>
CommitDate: Mon Jan 16 12:07:40 2017 +0100

    kdl_parser: fix build errors agains ROS kinetic
    
    They moved from boost::shared_ptr to std::shared_ptr, so let's start
    using the correct typedefs the encapsulate this detail.

http://git.fawkesrobotics.org/fawkes.git/commit/1931286
http://trac.fawkesrobotics.org/changeset/1931286

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------


- *Diffs* -------------------------------------------------------------

- *commit* 19312861a06437d7f587f225599a31d97e4203ec - - - - - - - - - -
Author:  Victor Mataré <matare at lih.rwth-aachen.de>
Date:    Mon Jan 16 12:07:40 2017 +0100
Subject: kdl_parser: fix build errors agains ROS kinetic

 src/libs/kdl_parser/Makefile       |    2 +-
 src/libs/kdl_parser/kdl_parser.cpp |   12 ++++++------
 src/libs/kdl_parser/model.cpp      |    4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

_Diff for modified files_:
diff --git a/src/libs/kdl_parser/Makefile b/src/libs/kdl_parser/Makefile
index 01e75c0..a9bc129 100644
--- a/src/libs/kdl_parser/Makefile
+++ b/src/libs/kdl_parser/Makefile
@@ -24,7 +24,7 @@ HDRS_libfawkeskdl_parser = $(subst $(SRCDIR)/,,$(wildcard $(SRCDIR)/*.h))
 
 OBJS_all = $(OBJS_libfawkeskdl_parser)
 ifeq ($(HAVE_KDLPARSER)$(HAVE_EIGEN3),11)
-  CFLAGS  += $(CFLAGS_KDLPARSER) $(CFLAGS_EIGEN3)
+  CFLAGS  += $(CFLAGS_KDLPARSER) $(CFLAGS_EIGEN3) -std=c++11
   LDFLAGS += $(LDFLAGS_KDLPARSER) $(LDFLAGS_EIGEN3)
   LIBS_all = $(LIBDIR)/libfawkeskdl_parser.so
 else
diff --git a/src/libs/kdl_parser/kdl_parser.cpp b/src/libs/kdl_parser/kdl_parser.cpp
index 4cbbcdc..cc27a6e 100644
--- a/src/libs/kdl_parser/kdl_parser.cpp
+++ b/src/libs/kdl_parser/kdl_parser.cpp
@@ -52,8 +52,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <kdl_parser/kdl_parser.h>
-#include <kdl_parser/model.h>
+#include "kdl_parser.h"
+#include "model.h"
 #include <urdf_model/pose.h>
 #include <kdl/frames_io.hpp>
 #include <kdl_parser/exceptions.h>
@@ -90,7 +90,7 @@ Frame to_kdl(urdf::Pose p)
 }
 
 // construct joint
-Joint to_kdl(boost::shared_ptr<urdf::Joint> jnt)
+Joint to_kdl(urdf::JointSharedPtr jnt)
 {
   Frame F_parent_jnt = to_kdl(jnt->parent_to_joint_origin_transform);
 
@@ -119,7 +119,7 @@ Joint to_kdl(boost::shared_ptr<urdf::Joint> jnt)
 }
 
 // construct inertia
-RigidBodyInertia to_kdl(boost::shared_ptr<urdf::Inertial> i)
+RigidBodyInertia to_kdl(urdf::InertialSharedPtr i)
 {
   Frame origin = to_kdl(i->origin);
   // kdl specifies the inertia in the reference frame of the link, the urdf specifies the inertia in the inertia reference frame
@@ -128,9 +128,9 @@ RigidBodyInertia to_kdl(boost::shared_ptr<urdf::Inertial> i)
 
 
 // recursive function to walk through tree
-bool add_children_to_tree(boost::shared_ptr<const urdf::Link> root, Tree& tree)
+bool add_children_to_tree(urdf::LinkSharedPtr root, Tree& tree)
 {
-  std::vector<boost::shared_ptr<urdf::Link> > children = root->child_links;
+  const 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/src/libs/kdl_parser/model.cpp b/src/libs/kdl_parser/model.cpp
index ed3ca98..9a87bd1 100644
--- a/src/libs/kdl_parser/model.cpp
+++ b/src/libs/kdl_parser/model.cpp
@@ -54,7 +54,7 @@
  */
 
 
-#include <kdl_parser/model.h>
+#include "model.h"
 #include <urdf_parser/urdf_parser.h>
 
 #include <vector>
@@ -151,7 +151,7 @@ bool Model::initXml(TiXmlElement *robot_xml)
  */
 bool Model::initString(const std::string& xml_string)
 {
-  boost::shared_ptr<ModelInterface> model;
+  ModelInterfaceSharedPtr model;
 
   if( IsColladaData(xml_string) ) {
     // currently, support for Collada is not implemented




-- 
Fawkes Robotics Framework                 http://www.fawkesrobotics.org


More information about the fawkes-commits mailing list