[Refactoring] Remove usage of ConfigurationPtr_t in ConfigurationShooter

include/hpp/core/configuration-shooter.hh

@@ -35,7 +35,16 @@ namespace hpp {
     {
     public:
       /// Shoot a random configuration
-      virtual ConfigurationPtr_t shoot () const = 0;
+      virtual ConfigurationPtr_t shoot () const
+      {
+        ConfigurationPtr_t q (new Configuration_t);
+        shoot (*q);
+        return q;
+      }
+
+      /// Shoot a random configuration
+      /// \param q the configuration (resized if necessary).
+      virtual void shoot (Configuration_t& q) const = 0;
 
       virtual ~ConfigurationShooter () {};
     protected:

include/hpp/core/configuration-shooter/gaussian.hh

@@ -44,7 +44,7 @@ namespace hpp {
             ptr->init (shPtr);
             return shPtr;
           }
-          virtual ConfigurationPtr_t shoot () const;
+          virtual void shoot (Configuration_t& q) const;
 
           void center (ConfigurationIn_t c)
           {

include/hpp/core/configuration-shooter/uniform.hh

@@ -42,7 +42,7 @@ namespace hpp {
           ptr->init (shPtr);
           return shPtr;
         }
-        virtual ConfigurationPtr_t shoot () const;
+        virtual void shoot (Configuration_t& q) const;
 
         void sampleExtraDOF(bool sampleExtraDOF){
             sampleExtraDOF_=sampleExtraDOF;

src/configuration-shooter/gaussian.cc

@@ -106,7 +106,7 @@ namespace hpp {
         ::pinocchio::details::Dispatch<ComputeSigmasStep>::run(jmodel.derived(), ComputeSigmasStep::ArgsType(model, sigmas));
       }
 
-      ConfigurationPtr_t Gaussian::shoot () const
+      void Gaussian::shoot (Configuration_t& config) const
       {
         static boost::random::mt19937 eng;
         vector_t velocity (robot_->numberDof());
@@ -116,11 +116,9 @@ namespace hpp {
           velocity[i] = distrib (eng);
         }
 
-        ConfigurationPtr_t config(new Configuration_t(robot_->configSize ()));
-        ::hpp::pinocchio::integrate (robot_, center_, velocity, *config);
-        ::hpp::pinocchio::saturate  (robot_, *config);
-
-        return config;
+        config.resize(robot_->configSize ());
+        ::hpp::pinocchio::integrate (robot_, center_, velocity, config);
+        ::hpp::pinocchio::saturate  (robot_, config);
       }
 
       void Gaussian::sigma(const value_type& factor)

src/configuration-shooter/uniform.cc

@@ -26,12 +26,12 @@ namespace hpp {
   namespace core {
     namespace configurationShooter {
 
-      ConfigurationPtr_t Uniform::shoot () const
+      void Uniform::shoot (Configuration_t& config) const
       {
         size_type extraDim = robot_->extraConfigSpace ().dimension ();
         size_type offset = robot_->configSize () - extraDim;
 
-        Configuration_t config(robot_->configSize ());
+        config.resize(robot_->configSize ());
         config.head (offset) = ::pinocchio::randomConfiguration(robot_->model());
 
         if(sampleExtraDOF_){
@@ -52,7 +52,6 @@ namespace hpp {
         }else{
             config.tail(extraDim).setZero();
         }
-        return boost::make_shared<Configuration_t> (config);
       }
 
     } // namespace configurationShooter