no longer considers shared ptr but pointers to fcl objects

include/hpp/affordance/affordance-extraction.hh

@@ -70,7 +70,7 @@ namespace hpp {
     };
 
 		// helper function to extract mesh model of an fcl::collisionObstacle
-    BVHModelOBConst_Ptr_t GetModel (const fcl::CollisionObjectConstPtr_t& object);
+    BVHModelOBConst_Ptr_t GetModel (FclConstCollisionObjectPtr_t object);
 
     /// \addtogroup affordance
     /// \{
@@ -91,14 +91,14 @@ namespace hpp {
 			/// \param colObj reference to pointer to fcl::collisionObject
 			///        containing the found affordance objects.
       Affordance (const std::vector<unsigned int>& idxVec,
-                  const fcl::CollisionObjectPtr_t& colObj):
+                  FclConstCollisionObjectPtr_t colObj):
                   indices_(idxVec), colObj_(colObj) {}
 			/// Triangle indices that correspond to the triangles of the reference
 			/// collisionObstacle, and form the affordance object.
       std::vector<unsigned int> indices_;
 			/// Reference to the collisionObstacle the surfaces of which are used to
 			/// create the affordance object.
-      fcl::CollisionObjectPtr_t colObj_;
+      FclConstCollisionObjectPtr_t colObj_;
     };
 		///	Class containing a vector of vectors of Affordance objects.
 		/// The length of the outer vector corresponds to the amount of different
@@ -163,7 +163,7 @@ namespace hpp {
 		/// \param opVec vector of operation objects that determine which requirements
 		///				 are set for which affordance type. The length of this vector
 		///				 corresponds to the amount of different affordance types considered.
-    SemanticsDataPtr_t affordanceAnalysis (const fcl::CollisionObjectPtr_t& colObj,
+    SemanticsDataPtr_t affordanceAnalysis (FclConstCollisionObjectPtr_t colObj,
                                            const OperationBases_t & opVec);
 
 		/// Free function that, given a semanticsData pointer, creates one

include/hpp/affordance/fwd.hh

@@ -49,6 +49,9 @@ namespace hpp {
     typedef boost::shared_ptr <SemanticsData> SemanticsDataPtr_t;
     typedef boost::shared_ptr <Affordance> AffordancePtr_t;
     typedef boost::shared_ptr <AffordanceExtraction> AffordanceExtractionPtr_t;
+    typedef       fcl::CollisionObject   FclCollisionObject;
+    typedef       fcl::CollisionObject * FclCollisionObjectPtr_t;
+    typedef const fcl::CollisionObject * FclConstCollisionObjectPtr_t;
   } // namespace affordance
 } // namespace hpp
 

src/affordance-extraction.cc

@@ -27,7 +27,7 @@
 namespace hpp {
   namespace affordance {
 
-    BVHModelOBConst_Ptr_t GetModel (const fcl::CollisionObjectConstPtr_t& object)
+    BVHModelOBConst_Ptr_t GetModel (FclConstCollisionObjectPtr_t object)
     {
         assert (object->collisionGeometry ()->getNodeType () == fcl::BV_OBBRSS);
         const BVHModelOBConst_Ptr_t model = boost::static_pointer_cast<const BVHModelOB>
@@ -78,7 +78,7 @@ namespace hpp {
       }
     }
 
-    SemanticsDataPtr_t affordanceAnalysis (const fcl::CollisionObjectPtr_t& colObj,
+    SemanticsDataPtr_t affordanceAnalysis (FclConstCollisionObjectPtr_t colObj,
                                            const OperationBases_t& opVec)
     {
       BVHModelOBConst_Ptr_t model =  GetModel (colObj);

tests/test-one-triangle1.cc

@@ -61,7 +61,7 @@ BOOST_AUTO_TEST_CASE (one_triangle1)
 	model->addSubModel (vertices, triangles);
 	model->endModel ();
 
-  boost::shared_ptr <fcl::CollisionObject> obj (new fcl::CollisionObject(model, pose));
+  fcl::CollisionObject* obj (new fcl::CollisionObject(model, pose));
 
   hpp::affordance::SemanticsDataPtr_t h = hpp::affordance::affordanceAnalysis (obj, operations);
 

tests/test-one-triangle2.cc

@@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE (one_triangle2)
 	model->addSubModel (vertices, triangles);
 	model->endModel ();
 
-  boost::shared_ptr <fcl::CollisionObject> obj (new fcl::CollisionObject(model, pose));
+  fcl::CollisionObject* obj (new fcl::CollisionObject(model, pose));
 
   hpp::affordance::SemanticsDataPtr_t h = hpp::affordance::affordanceAnalysis (obj, operations);
 

tests/test-oriented-triangles1.cc

@@ -67,7 +67,7 @@ BOOST_AUTO_TEST_CASE (oriented_triangles1)
 		model->addSubModel (vertices, triangles);
 		model->endModel ();
 	
-	  boost::shared_ptr <fcl::CollisionObject> obj (new fcl::CollisionObject(model, pose));
+      fcl::CollisionObject* obj (new fcl::CollisionObject(model, pose));
 	
 	  hpp::affordance::SemanticsDataPtr_t h = hpp::affordance::affordanceAnalysis (obj, operations);
 

tests/test-oriented-triangles2.cc

@@ -67,7 +67,7 @@ BOOST_AUTO_TEST_CASE (oriented_triangles2)
 		model->addSubModel (vertices, triangles);
 		model->endModel ();
 	
-	  boost::shared_ptr <fcl::CollisionObject> obj (new fcl::CollisionObject(model, pose));
+      fcl::CollisionObject* obj (new fcl::CollisionObject(model, pose));
 	
 	  hpp::affordance::SemanticsDataPtr_t h = hpp::affordance::affordanceAnalysis (obj, operations);