Commit 4a960119 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Reduce dependency to boost.

parent 3dbd8b46
......@@ -18,30 +18,21 @@
# define HPP_CORE_CONTAINER_HH
# include <map>
# include <list>
# include <stdexcept>
# include <type_traits>
# include <boost/smart_ptr/shared_ptr.hpp>
# include <boost/mpl/inherit_linearly.hpp>
# include <boost/mpl/fold.hpp>
# include <boost/mpl/inherit.hpp>
# include <boost/mpl/vector.hpp>
# include <boost/mpl/for_each.hpp>
# include <boost/type_traits/is_pointer.hpp>
# include <boost/type_traits/remove_pointer.hpp>
# include <hpp/util/pointer.hh>
# include <hpp/core/config.hh>
namespace hpp {
namespace core {
/// @cond INTERNAL
namespace internal {
template <typename T> struct is_pointer : boost::is_pointer<T> {};
template <typename T> struct is_pointer<boost::shared_ptr<T> > : boost::true_type {};
template <typename T> struct remove_pointer : boost::remove_pointer<T> {};
template <typename T> struct remove_pointer<boost::shared_ptr<T> > { typedef T type; };
template <typename T> struct remove_pointer<const boost::shared_ptr<T> > { typedef T type; };
template <typename T> struct is_pointer : std::is_pointer<T> {};
template <typename T> struct is_pointer<shared_ptr<T> > : std::true_type {};
template <typename T> struct remove_pointer : std::remove_pointer<T> {};
template <typename T> struct remove_pointer<shared_ptr<T> > { typedef T type; };
template <typename T> struct remove_pointer<const shared_ptr<T> > { typedef T type; };
template <bool deref_ptr> struct deref {
template <typename T> static inline T get (T t) { return t; }
......
......@@ -143,7 +143,7 @@ namespace hpp {
struct Model {
CollisionPairs_t pairs;
};
boost::shared_ptr<Model> m_;
shared_ptr<Model> m_;
fcl::CollisionRequest collisionRequest_;
mutable vector_t Vb_;
......
......@@ -150,7 +150,7 @@ namespace hpp {
JointIndices_t computeSequenceOfJoints () const;
void computeCoefficients (const JointIndices_t& joints);
};
boost::shared_ptr<Model> m_;
shared_ptr<Model> m_;
SolidSolidCollisionWkPtr_t weak_;
}; // class SolidSolidCollision
} // namespace continuousValidation
......
......@@ -78,20 +78,20 @@ namespace hpp {
typedef constraints::ComparisonTypes_t ComparisonTypes_t;
typedef constraints::ComparisonType ComparisonType;
typedef boost::shared_ptr <BiRRTPlanner> BiRRTPlannerPtr_t;
typedef shared_ptr <BiRRTPlanner> BiRRTPlannerPtr_t;
typedef hpp::pinocchio::Body Body;
typedef hpp::pinocchio::BodyPtr_t BodyPtr_t;
typedef boost::shared_ptr <CollisionValidation> CollisionValidationPtr_t;
typedef boost::shared_ptr <CollisionValidationReport>
typedef shared_ptr <CollisionValidation> CollisionValidationPtr_t;
typedef shared_ptr <CollisionValidationReport>
CollisionValidationReportPtr_t;
typedef boost::shared_ptr <AllCollisionsValidationReport>
typedef shared_ptr <AllCollisionsValidationReport>
AllCollisionsValidationReportPtr_t;
typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t;
typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t;
typedef pinocchio::FclCollisionObject FclCollisionObject;
typedef FclCollisionObject * FclCollisionObjectPtr_t;
typedef const FclCollisionObject * FclConstCollisionObjectPtr_t;
typedef boost::shared_ptr <FclCollisionObject> FclCollisionObjectSharePtr_t;
typedef shared_ptr <FclCollisionObject> FclCollisionObjectSharePtr_t;
typedef pinocchio::Configuration_t Configuration_t;
typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
......@@ -100,15 +100,15 @@ namespace hpp {
typedef std::vector <ConfigurationPtr_t> Configurations_t;
typedef Configurations_t::iterator ConfigIterator_t;
typedef Configurations_t::const_iterator ConfigConstIterator_t;
typedef boost::shared_ptr <ConfigurationShooter> ConfigurationShooterPtr_t;
typedef boost::shared_ptr <ConfigProjector> ConfigProjectorPtr_t;
typedef boost::shared_ptr <ConfigValidation> ConfigValidationPtr_t;
typedef boost::shared_ptr <ConfigValidations> ConfigValidationsPtr_t;
typedef boost::shared_ptr <ConnectedComponent> ConnectedComponentPtr_t;
typedef shared_ptr <ConfigurationShooter> ConfigurationShooterPtr_t;
typedef shared_ptr <ConfigProjector> ConfigProjectorPtr_t;
typedef shared_ptr <ConfigValidation> ConfigValidationPtr_t;
typedef shared_ptr <ConfigValidations> ConfigValidationsPtr_t;
typedef shared_ptr <ConnectedComponent> ConnectedComponentPtr_t;
typedef std::set <ConnectedComponentPtr_t> ConnectedComponents_t;
typedef boost::shared_ptr <Constraint> ConstraintPtr_t;
typedef boost::shared_ptr <ConstraintSet> ConstraintSetPtr_t;
typedef boost::shared_ptr <const ConstraintSet> ConstraintSetConstPtr_t;
typedef shared_ptr <Constraint> ConstraintPtr_t;
typedef shared_ptr <ConstraintSet> ConstraintSetPtr_t;
typedef shared_ptr <const ConstraintSet> ConstraintSetConstPtr_t;
typedef std::vector<ConstraintPtr_t> Constraints_t;
typedef pinocchio::Device Device_t;
typedef pinocchio::DevicePtr_t DevicePtr_t;
......@@ -118,22 +118,22 @@ namespace hpp {
typedef constraints::DifferentiableFunction DifferentiableFunction;
typedef constraints::DifferentiableFunctionPtr_t
DifferentiableFunctionPtr_t;
typedef boost::shared_ptr <DiffusingPlanner> DiffusingPlannerPtr_t;
typedef boost::shared_ptr <Distance> DistancePtr_t;
typedef boost::shared_ptr <DistanceBetweenObjects>
typedef shared_ptr <DiffusingPlanner> DiffusingPlannerPtr_t;
typedef shared_ptr <Distance> DistancePtr_t;
typedef shared_ptr <DistanceBetweenObjects>
DistanceBetweenObjectsPtr_t;
typedef pinocchio::DistanceResults_t DistanceResults_t;
typedef Edge* EdgePtr_t;
typedef std::list <Edge*> Edges_t;
typedef boost::shared_ptr <ExtractedPath> ExtractedPathPtr_t;
typedef boost::shared_ptr <SubchainPath> SubchainPathPtr_t;
typedef shared_ptr <ExtractedPath> ExtractedPathPtr_t;
typedef shared_ptr <SubchainPath> SubchainPathPtr_t;
typedef pinocchio::JointJacobian_t JointJacobian_t;
typedef pinocchio::Joint Joint;
typedef pinocchio::JointConstPtr_t JointConstPtr_t;
typedef pinocchio::JointPtr_t JointPtr_t;
typedef pinocchio::JointConstPtr_t JointConstPtr_t;
typedef boost::shared_ptr <JointBoundValidation> JointBoundValidationPtr_t;
typedef boost::shared_ptr <JointBoundValidationReport>
typedef shared_ptr <JointBoundValidation> JointBoundValidationPtr_t;
typedef shared_ptr <JointBoundValidationReport>
JointBoundValidationReportPtr_t;
typedef pinocchio::HalfJointJacobian_t HalfJointJacobian_t;
typedef pinocchio::JointVector_t JointVector_t;
......@@ -167,32 +167,32 @@ namespace hpp {
typedef std::vector<CollisionObjectPtr_t> ObjectStdVector_t;
typedef std::vector<CollisionObjectConstPtr_t> ConstObjectStdVector_t;
typedef boost::shared_ptr <Path> PathPtr_t;
typedef boost::shared_ptr <const Path> PathConstPtr_t;
typedef boost::shared_ptr <TimeParameterization> TimeParameterizationPtr_t;
typedef boost::shared_ptr <PathOptimizer> PathOptimizerPtr_t;
typedef boost::shared_ptr <PathPlanner> PathPlannerPtr_t;
typedef boost::shared_ptr <ProblemTarget> ProblemTargetPtr_t;
typedef boost::shared_ptr <PathVector> PathVectorPtr_t;
typedef boost::shared_ptr <const PathVector> PathVectorConstPtr_t;
typedef boost::shared_ptr <PlanAndOptimize> PlanAndOptimizePtr_t;
typedef boost::shared_ptr <Problem> ProblemPtr_t;
typedef boost::shared_ptr <const Problem> ProblemConstPtr_t;
typedef shared_ptr <Path> PathPtr_t;
typedef shared_ptr <const Path> PathConstPtr_t;
typedef shared_ptr <TimeParameterization> TimeParameterizationPtr_t;
typedef shared_ptr <PathOptimizer> PathOptimizerPtr_t;
typedef shared_ptr <PathPlanner> PathPlannerPtr_t;
typedef shared_ptr <ProblemTarget> ProblemTargetPtr_t;
typedef shared_ptr <PathVector> PathVectorPtr_t;
typedef shared_ptr <const PathVector> PathVectorConstPtr_t;
typedef shared_ptr <PlanAndOptimize> PlanAndOptimizePtr_t;
typedef shared_ptr <Problem> ProblemPtr_t;
typedef shared_ptr <const Problem> ProblemConstPtr_t;
typedef ProblemSolver* ProblemSolverPtr_t;
typedef boost::shared_ptr <Roadmap> RoadmapPtr_t;
typedef boost::shared_ptr <StraightPath> StraightPathPtr_t;
typedef boost::shared_ptr <const StraightPath> StraightPathConstPtr_t;
typedef boost::shared_ptr <ReedsSheppPath> ReedsSheppPathPtr_t;
typedef boost::shared_ptr <const ReedsSheppPath> ReedsSheppPathConstPtr_t;
typedef boost::shared_ptr <DubinsPath> DubinsPathPtr_t;
typedef boost::shared_ptr <const DubinsPath> DubinsPathConstPtr_t;
typedef boost::shared_ptr <KinodynamicPath> KinodynamicPathPtr_t;
typedef boost::shared_ptr <const KinodynamicPath> KinodynamicPathConstPtr_t;
typedef boost::shared_ptr <KinodynamicOrientedPath> KinodynamicOrientedPathPtr_t;
typedef boost::shared_ptr <const KinodynamicOrientedPath> KinodynamicOrientedPathConstPtr_t;
typedef boost::shared_ptr <InterpolatedPath> InterpolatedPathPtr_t;
typedef boost::shared_ptr <const InterpolatedPath> InterpolatedPathConstPtr_t;
typedef boost::shared_ptr <SteeringMethod> SteeringMethodPtr_t;
typedef shared_ptr <Roadmap> RoadmapPtr_t;
typedef shared_ptr <StraightPath> StraightPathPtr_t;
typedef shared_ptr <const StraightPath> StraightPathConstPtr_t;
typedef shared_ptr <ReedsSheppPath> ReedsSheppPathPtr_t;
typedef shared_ptr <const ReedsSheppPath> ReedsSheppPathConstPtr_t;
typedef shared_ptr <DubinsPath> DubinsPathPtr_t;
typedef shared_ptr <const DubinsPath> DubinsPathConstPtr_t;
typedef shared_ptr <KinodynamicPath> KinodynamicPathPtr_t;
typedef shared_ptr <const KinodynamicPath> KinodynamicPathConstPtr_t;
typedef shared_ptr <KinodynamicOrientedPath> KinodynamicOrientedPathPtr_t;
typedef shared_ptr <const KinodynamicOrientedPath> KinodynamicOrientedPathConstPtr_t;
typedef shared_ptr <InterpolatedPath> InterpolatedPathPtr_t;
typedef shared_ptr <const InterpolatedPath> InterpolatedPathConstPtr_t;
typedef shared_ptr <SteeringMethod> SteeringMethodPtr_t;
typedef std::vector <PathPtr_t> Paths_t;
typedef std::vector <PathVectorPtr_t> PathVectors_t;
typedef std::vector <PathVectorPtr_t> PathVectors_t;
......@@ -203,10 +203,10 @@ namespace hpp {
typedef pinocchio::vectorIn_t vectorIn_t;
typedef pinocchio::vectorOut_t vectorOut_t;
typedef Eigen::Matrix<value_type, 1, Eigen::Dynamic> rowvector_t;
typedef boost::shared_ptr <VisibilityPrmPlanner> VisibilityPrmPlannerPtr_t;
typedef boost::shared_ptr <ValidationReport> ValidationReportPtr_t;
typedef boost::shared_ptr <WeighedDistance> WeighedDistancePtr_t;
typedef boost::shared_ptr <KinodynamicDistance> KinodynamicDistancePtr_t;
typedef shared_ptr <VisibilityPrmPlanner> VisibilityPrmPlannerPtr_t;
typedef shared_ptr <ValidationReport> ValidationReportPtr_t;
typedef shared_ptr <WeighedDistance> WeighedDistancePtr_t;
typedef shared_ptr <KinodynamicDistance> KinodynamicDistancePtr_t;
typedef std::map <std::string, constraints::ImplicitPtr_t>
NumericalConstraintMap_t;
typedef std::map <std::string, ComparisonTypes_t> ComparisonTypeMap_t;
......@@ -224,32 +224,32 @@ namespace hpp {
namespace path {
template <int _PolynomeBasis, int _Order> class Spline;
HPP_PREDEF_CLASS (Hermite);
typedef boost::shared_ptr <Hermite> HermitePtr_t;
typedef boost::shared_ptr <const Hermite> HermiteConstPtr_t;
typedef shared_ptr <Hermite> HermitePtr_t;
typedef shared_ptr <const Hermite> HermiteConstPtr_t;
} // namespace path
HPP_PREDEF_CLASS (ContinuousValidation);
typedef boost::shared_ptr <ContinuousValidation>
typedef shared_ptr <ContinuousValidation>
ContinuousValidationPtr_t;
namespace continuousValidation {
HPP_PREDEF_CLASS (Dichotomy);
typedef boost::shared_ptr <Dichotomy> DichotomyPtr_t;
typedef shared_ptr <Dichotomy> DichotomyPtr_t;
HPP_PREDEF_CLASS (Progressive);
typedef boost::shared_ptr <Progressive> ProgressivePtr_t;
typedef shared_ptr <Progressive> ProgressivePtr_t;
HPP_PREDEF_CLASS (BodyPairCollision);
typedef boost::shared_ptr <BodyPairCollision> BodyPairCollisionPtr_t;
typedef shared_ptr <BodyPairCollision> BodyPairCollisionPtr_t;
typedef std::vector <BodyPairCollisionPtr_t> BodyPairCollisions_t;
HPP_PREDEF_CLASS (IntervalValidation);
typedef boost::shared_ptr <IntervalValidation> IntervalValidationPtr_t;
typedef shared_ptr <IntervalValidation> IntervalValidationPtr_t;
typedef std::vector <IntervalValidationPtr_t> IntervalValidations_t;
HPP_PREDEF_CLASS (SolidSolidCollision);
typedef boost::shared_ptr <SolidSolidCollision> SolidSolidCollisionPtr_t;
typedef shared_ptr <SolidSolidCollision> SolidSolidCollisionPtr_t;
} // namespace continuousValidation
namespace distance {
HPP_PREDEF_CLASS (ReedsShepp);
typedef boost::shared_ptr <ReedsShepp> ReedsSheppPtr_t;
typedef shared_ptr <ReedsShepp> ReedsSheppPtr_t;
} // namespace distance
class NearestNeighbor;
......@@ -263,80 +263,80 @@ namespace hpp {
namespace pathOptimization {
HPP_PREDEF_CLASS (RandomShortcut);
typedef boost::shared_ptr <RandomShortcut> RandomShortcutPtr_t;
typedef shared_ptr <RandomShortcut> RandomShortcutPtr_t;
HPP_PREDEF_CLASS (SimpleShortcut);
typedef boost::shared_ptr <SimpleShortcut> SimpleShortcutPtr_t;
typedef shared_ptr <SimpleShortcut> SimpleShortcutPtr_t;
HPP_PREDEF_CLASS (Cost);
typedef boost::shared_ptr <Cost> CostPtr_t;
typedef shared_ptr <Cost> CostPtr_t;
HPP_PREDEF_CLASS (GradientBased);
typedef boost::shared_ptr <GradientBased> GradientBasedPtr_t;
typedef shared_ptr <GradientBased> GradientBasedPtr_t;
HPP_PREDEF_CLASS (PathLength);
typedef boost::shared_ptr <PathLength> PathLengthPtr_t;
typedef shared_ptr <PathLength> PathLengthPtr_t;
HPP_PREDEF_CLASS (PartialShortcut);
typedef boost::shared_ptr <PartialShortcut> PartialShortcutPtr_t;
typedef shared_ptr <PartialShortcut> PartialShortcutPtr_t;
HPP_PREDEF_CLASS (SimpleTimeParameterization);
typedef boost::shared_ptr <SimpleTimeParameterization> SimpleTimeParameterizationPtr_t;
typedef shared_ptr <SimpleTimeParameterization> SimpleTimeParameterizationPtr_t;
HPP_PREDEF_CLASS (ConfigOptimization);
typedef boost::shared_ptr <ConfigOptimization>
typedef shared_ptr <ConfigOptimization>
ConfigOptimizationPtr_t;
} // namespace pathOptimization
namespace pathPlanner {
HPP_PREDEF_CLASS (kPrmStar);
typedef boost::shared_ptr <kPrmStar> kPrmStarPtr_t;
typedef shared_ptr <kPrmStar> kPrmStarPtr_t;
} // namespace pathPlanner
HPP_PREDEF_CLASS (PathValidations);
HPP_PREDEF_CLASS (PathValidation);
typedef boost::shared_ptr <PathValidation> PathValidationPtr_t;
typedef boost::shared_ptr <PathValidations> PathValidationsPtr_t;
typedef shared_ptr <PathValidation> PathValidationPtr_t;
typedef shared_ptr <PathValidations> PathValidationsPtr_t;
namespace pathValidation {
HPP_PREDEF_CLASS (Discretized);
typedef boost::shared_ptr <Discretized> DiscretizedPtr_t;
typedef shared_ptr <Discretized> DiscretizedPtr_t;
} // namespace pathValidation
// Path validation reports
struct PathValidationReport;
struct CollisionPathValidationReport;
typedef boost::shared_ptr <PathValidationReport> PathValidationReportPtr_t;
typedef boost::shared_ptr <CollisionPathValidationReport>
typedef shared_ptr <PathValidationReport> PathValidationReportPtr_t;
typedef shared_ptr <CollisionPathValidationReport>
CollisionPathValidationReportPtr_t;
typedef std::vector <CollisionPathValidationReport>
CollisionPathValidationReports_t;
HPP_PREDEF_CLASS (PathProjector);
typedef boost::shared_ptr <PathProjector> PathProjectorPtr_t;
typedef shared_ptr <PathProjector> PathProjectorPtr_t;
namespace pathProjector {
HPP_PREDEF_CLASS (Global);
typedef boost::shared_ptr <Global> GlobalPtr_t;
typedef shared_ptr <Global> GlobalPtr_t;
HPP_PREDEF_CLASS (Dichotomy);
typedef boost::shared_ptr <Dichotomy> DichotomyPtr_t;
typedef shared_ptr <Dichotomy> DichotomyPtr_t;
HPP_PREDEF_CLASS (Progressive);
typedef boost::shared_ptr <Progressive> ProgressivePtr_t;
typedef shared_ptr <Progressive> ProgressivePtr_t;
HPP_PREDEF_CLASS (RecursiveHermite);
typedef boost::shared_ptr <RecursiveHermite> RecursiveHermitePtr_t;
typedef shared_ptr <RecursiveHermite> RecursiveHermitePtr_t;
} // namespace pathProjector
namespace steeringMethod {
HPP_PREDEF_CLASS (Interpolated);
typedef boost::shared_ptr <Interpolated> InterpolatedPtr_t;
typedef shared_ptr <Interpolated> InterpolatedPtr_t;
HPP_PREDEF_CLASS (ReedsShepp);
typedef boost::shared_ptr <ReedsShepp> ReedsSheppPtr_t;
typedef shared_ptr <ReedsShepp> ReedsSheppPtr_t;
HPP_PREDEF_CLASS (Kinodynamic);
typedef boost::shared_ptr <Kinodynamic> KinodynamicPtr_t;
typedef shared_ptr <Kinodynamic> KinodynamicPtr_t;
} // namespace steeringMethod
namespace problemTarget {
HPP_PREDEF_CLASS (GoalConfigurations);
HPP_PREDEF_CLASS (TaskTarget);
typedef boost::shared_ptr <GoalConfigurations> GoalConfigurationsPtr_t;
typedef boost::shared_ptr <TaskTarget> TaskTargetPtr_t;
typedef shared_ptr <GoalConfigurations> GoalConfigurationsPtr_t;
typedef shared_ptr <TaskTarget> TaskTargetPtr_t;
} // namespace problemTarget
namespace configurationShooter {
HPP_PREDEF_CLASS (Uniform);
typedef boost::shared_ptr < Uniform > UniformPtr_t;
typedef shared_ptr < Uniform > UniformPtr_t;
HPP_PREDEF_CLASS (Gaussian);
typedef boost::shared_ptr < Gaussian > GaussianPtr_t;
typedef shared_ptr < Gaussian > GaussianPtr_t;
} // namespace configurationShooter
/// Plane polygon represented by its vertices
......
......@@ -93,7 +93,7 @@ namespace hpp {
void addObstacle (const CollisionObjectConstPtr_t& object)
{
for (std::size_t i = 0; i < validations_.size(); ++i) {
boost::shared_ptr<ObstacleUserInterface> oui =
shared_ptr<ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(ObstacleUserInterface, validations_[i]);
if (oui) oui->addObstacle (object);
}
......@@ -108,7 +108,7 @@ namespace hpp {
const CollisionObjectConstPtr_t& object)
{
for (std::size_t i = 0; i < validations_.size(); ++i) {
boost::shared_ptr<ObstacleUserInterface> oui =
shared_ptr<ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(ObstacleUserInterface, validations_[i]);
if (oui) oui->removeObstacleFromJoint (joint, object);
}
......@@ -122,7 +122,7 @@ namespace hpp {
void filterCollisionPairs (const RelativeMotion::matrix_type& relMotion)
{
for (std::size_t i = 0; i < validations_.size(); ++i) {
boost::shared_ptr<ObstacleUserInterface> oui =
shared_ptr<ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(ObstacleUserInterface, validations_[i]);
if (oui) oui->filterCollisionPairs (relMotion);
}
......@@ -136,7 +136,7 @@ namespace hpp {
void setSecurityMargins(const matrix_t& securityMatrix)
{
for (std::size_t i = 0; i < validations_.size(); ++i) {
boost::shared_ptr<ObstacleUserInterface> oui =
shared_ptr<ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(ObstacleUserInterface, validations_[i]);
if (oui) oui->setSecurityMargins (securityMatrix);
}
......
......@@ -19,7 +19,7 @@
#ifndef HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH
# define HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH
# include <boost/function.hpp>
# include <functional>
# include <hpp/core/path-optimizer.hh>
# include <hpp/core/path-vector.hh>
......@@ -81,13 +81,13 @@ namespace hpp {
value_type alphaInit;
boost::function <Configuration_t (const PathVector&)> getGoal;
std::function <Configuration_t (const PathVector&)> getGoal;
boost::function <
std::function <
ConfigProjectorPtr_t (const PathPtr_t&, const PathPtr_t&, bool&)
> getConfigProjector;
boost::function <bool ( JointConstPtr_t, const size_type)>
std::function <bool ( JointConstPtr_t, const size_type)>
shouldFilter;
Parameters ();
......
......@@ -157,7 +157,7 @@ namespace hpp {
/// The set of constraint of the corresponding path.
ConstraintSetPtr_t set;
/// A copy of the explicit solver included in \ref set
boost::shared_ptr<constraints::ExplicitConstraintSet> es;
shared_ptr<constraints::ExplicitConstraintSet> es;
/// Variable on which we can optimize.
/// Other variables are fully constrained.
......
......@@ -42,7 +42,7 @@ namespace hpp {
PolynomeBasis = _PolynomeBasis,
SplineOrder = _SplineOrder
};
typedef boost::shared_ptr<SplineGradientBased> Ptr_t;
typedef shared_ptr<SplineGradientBased> Ptr_t;
using typename Base::Spline;
using typename Base::SplinePtr_t;
......
......@@ -25,7 +25,7 @@ namespace hpp {
namespace core {
namespace pathPlanner {
HPP_PREDEF_CLASS (BiRrtStar);
typedef boost::shared_ptr <BiRrtStar> BiRrtStarPtr_t;
typedef shared_ptr <BiRrtStar> BiRrtStarPtr_t;
/// Bi-RRT* path planning algorithm
/// as described in http://www.golems.org/papers/AkgunIROS11-sampling.pdf
......
......@@ -19,7 +19,6 @@
#ifndef HPP_CORE_PATH_HH
# define HPP_CORE_PATH_HH
# include <boost/concept_check.hpp>
# include <hpp/util/exception.hh>
# include <hpp/util/serialization-fwd.hh>
# include <hpp/core/fwd.hh>
......@@ -77,14 +76,14 @@ namespace hpp {
virtual PathPtr_t copy (const ConstraintSetPtr_t& constraints) const = 0;
/// Static cast into a derived type
template <class T> boost::shared_ptr<T> as (void)
template <class T> shared_ptr<T> as (void)
{
assert (HPP_DYNAMIC_PTR_CAST (T, weak_.lock ()));
return HPP_STATIC_PTR_CAST (T, weak_.lock ());
}
/// Static cast into a derived type
template <class T> boost::shared_ptr<const T> as (void) const
template <class T> shared_ptr<const T> as (void) const
{
assert (HPP_DYNAMIC_PTR_CAST (const T, weak_.lock ()));
return HPP_STATIC_PTR_CAST (const T, weak_.lock ());
......
......@@ -97,8 +97,8 @@ namespace hpp {
typedef Eigen::Map<const vector_t, Eigen::Aligned> ConstParameterVector_t;
typedef Eigen::Map< vector_t, Eigen::Aligned> ParameterVector_t;
typedef boost::shared_ptr<Spline> Ptr_t;
typedef boost::weak_ptr<Spline> WkPtr_t;
typedef shared_ptr<Spline> Ptr_t;
typedef weak_ptr<Spline> WkPtr_t;
size_type parameterSize () const
{
......
......@@ -20,7 +20,7 @@
# define HPP_CORE_PROBLEM_SOLVER_HH
# include <stdexcept>
# include <boost/function.hpp>
# include <functional>
# include <hpp/pinocchio/fwd.hh>
......@@ -37,26 +37,26 @@ namespace hpp {
class Member_lockedJoints_in_class_ProblemSolver_has_been_removed_use_member_numericalConstraints_instead
{
};
typedef boost::function < DevicePtr_t (const std::string&) > RobotBuilder_t;
typedef boost::function < PathOptimizerPtr_t (const ProblemConstPtr_t&) >
typedef std::function < DevicePtr_t (const std::string&) > RobotBuilder_t;
typedef std::function < PathOptimizerPtr_t (const ProblemConstPtr_t&) >
PathOptimizerBuilder_t;
typedef boost::function < PathPlannerPtr_t (const ProblemConstPtr_t&,
typedef std::function < PathPlannerPtr_t (const ProblemConstPtr_t&,
const RoadmapPtr_t&) >
PathPlannerBuilder_t;
typedef boost::function < PathValidationPtr_t (const DevicePtr_t&,
typedef std::function < PathValidationPtr_t (const DevicePtr_t&,
const value_type&) >
PathValidationBuilder_t;
typedef boost::function < ConfigValidationPtr_t (const DevicePtr_t&) >
typedef std::function < ConfigValidationPtr_t (const DevicePtr_t&) >
ConfigValidationBuilder_t;
typedef boost::function <PathProjectorPtr_t (const ProblemConstPtr_t&,
typedef std::function <PathProjectorPtr_t (const ProblemConstPtr_t&,
const value_type&) >
PathProjectorBuilder_t;
typedef boost::function <ConfigurationShooterPtr_t
typedef std::function <ConfigurationShooterPtr_t
(const ProblemConstPtr_t&) >
ConfigurationShooterBuilder_t;
typedef boost::function <DistancePtr_t (const ProblemConstPtr_t&) >
typedef std::function <DistancePtr_t (const ProblemConstPtr_t&) >
DistanceBuilder_t;
typedef boost::function <SteeringMethodPtr_t (const ProblemConstPtr_t&) >
typedef std::function <SteeringMethodPtr_t (const ProblemConstPtr_t&) >
SteeringMethodBuilder_t;
typedef std::vector<std::pair < std::string, CollisionObjectPtr_t > > AffordanceObjects_t;
typedef vector3_t AffordanceConfig_t;
......
......@@ -23,22 +23,22 @@ namespace hpp {
namespace core {
namespace steeringMethod {
HPP_PREDEF_CLASS (Straight);
typedef boost::shared_ptr <Straight> StraightPtr_t;
typedef shared_ptr <Straight> StraightPtr_t;
HPP_PREDEF_CLASS (Interpolated);
typedef boost::shared_ptr <Interpolated> InterpolatedPtr_t;
typedef shared_ptr <Interpolated> InterpolatedPtr_t;
HPP_PREDEF_CLASS (CarLike);
typedef boost::shared_ptr <CarLike> CarLikePtr_t;
typedef shared_ptr <CarLike> CarLikePtr_t;
HPP_PREDEF_CLASS (ConstantCurvature);
typedef boost::shared_ptr <ConstantCurvature> ConstantCurvaturePtr_t;
typedef shared_ptr <ConstantCurvature> ConstantCurvaturePtr_t;
HPP_PREDEF_CLASS (Dubins);
typedef boost::shared_ptr <Dubins> DubinsPtr_t;
typedef shared_ptr <Dubins> DubinsPtr_t;
HPP_PREDEF_CLASS (ReedsShepp);
typedef boost::shared_ptr <ReedsShepp> ReedsSheppPtr_t;
typedef shared_ptr <ReedsShepp> ReedsSheppPtr_t;
HPP_PREDEF_CLASS (Snibud);
typedef boost::shared_ptr <Snibud> SnibudPtr_t;
typedef shared_ptr <Snibud> SnibudPtr_t;
template <int _PolynomeBasis, int _Order> class Spline;
HPP_PREDEF_CLASS (Hermite);
typedef boost::shared_ptr <Hermite> HermitePtr_t;
typedef shared_ptr <Hermite> HermitePtr_t;
} // namespace steeringMethod
/// \deprecated use steeringMethod::Straight instead
......
......@@ -45,8 +45,8 @@ namespace hpp {
typedef path::Spline<PolynomeBasis, SplineOrder> SplinePath;
typedef typename SplinePath::Ptr_t SplinePathPtr_t;
typedef boost::shared_ptr<Spline> Ptr_t;
typedef boost::weak_ptr<Spline> WkPtr_t;
typedef shared_ptr<Spline> Ptr_t;
typedef weak_ptr<Spline> WkPtr_t;
static Ptr_t create (const ProblemConstPtr_t& problem)
{
......
......@@ -19,7 +19,7 @@
#ifndef HPP_CORE_VISIBILITY_PRM_PLANNER_HH
# define HPP_CORE_VISIBILITY_PRM_PLANNER_HH
# include <boost/tuple/tuple.hpp>
# include <tuple>
# include <hpp/core/path-planner.hh>