Commit 10b6cb47 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Reduce dependency to boost.

parent 2da3021f
......@@ -28,7 +28,7 @@
# include <Eigen/Core>
# include <hpp/util/pointer.hh>
# include <hpp/fcl/fwd.hh> // Needs boost/shared_ptr.hpp
# include <hpp/fcl/fwd.hh>
# include <hpp/fcl/collision_data.h> // DistanceResult
# include <pinocchio/spatial/fwd.hpp>
......@@ -76,7 +76,7 @@ namespace hpp {
typedef vector_t Configuration_t;
typedef Eigen::Ref <const Configuration_t> ConfigurationIn_t;
typedef Eigen::Ref <Configuration_t> ConfigurationOut_t;
typedef boost::shared_ptr <Configuration_t> ConfigurationPtr_t;
typedef shared_ptr <Configuration_t> ConfigurationPtr_t;
typedef Eigen::Ref <const vector_t> vectorIn_t;
typedef Eigen::Ref <vector_t> vectorOut_t;
typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic> matrix_t;
......@@ -93,35 +93,35 @@ namespace hpp {
typedef JointVector JointVector_t;
struct ObjectVector;
typedef ObjectVector ObjectVector_t;
typedef boost::shared_ptr<Body> BodyPtr_t;
typedef boost::shared_ptr<const Body> BodyConstPtr_t;
typedef shared_ptr<Body> BodyPtr_t;
typedef shared_ptr<const Body> BodyConstPtr_t;
//typedef std::vector<BodyPtr_t> BodyVector_t;
typedef fcl::CollisionGeometry CollisionGeometry;
typedef boost::shared_ptr<CollisionGeometry> CollisionGeometryPtr_t;
using fcl::CollisionGeometry;
using fcl::CollisionGeometryPtr_t;
typedef fcl::CollisionObject FclCollisionObject;
typedef fcl::CollisionObject * FclCollisionObjectPtr_t;
typedef const fcl::CollisionObject * FclConstCollisionObjectPtr_t;
typedef boost::shared_ptr<CollisionObject> CollisionObjectPtr_t;
typedef boost::shared_ptr<const CollisionObject> CollisionObjectConstPtr_t;
typedef boost::shared_ptr <Device> DevicePtr_t;
typedef boost::shared_ptr <const Device> DeviceConstPtr_t;
typedef shared_ptr<CollisionObject> CollisionObjectPtr_t;
typedef shared_ptr<const CollisionObject> CollisionObjectConstPtr_t;
typedef shared_ptr <Device> DevicePtr_t;
typedef shared_ptr <const Device> DeviceConstPtr_t;
typedef std::vector <fcl::DistanceResult> DistanceResults_t;
typedef boost::shared_ptr <HumanoidRobot> HumanoidRobotPtr_t;
typedef boost::shared_ptr <CenterOfMassComputation> CenterOfMassComputationPtr_t;
typedef boost::shared_ptr<Joint> JointPtr_t;
typedef boost::shared_ptr<const Joint> JointConstPtr_t;
typedef boost::shared_ptr <Gripper> GripperPtr_t;
typedef shared_ptr <HumanoidRobot> HumanoidRobotPtr_t;
typedef shared_ptr <CenterOfMassComputation> CenterOfMassComputationPtr_t;
typedef shared_ptr<Joint> JointPtr_t;
typedef shared_ptr<const Joint> JointConstPtr_t;
typedef shared_ptr <Gripper> GripperPtr_t;
typedef std::vector <GripperPtr_t> Grippers_t;
typedef boost::shared_ptr<Model> ModelPtr_t;
typedef boost::shared_ptr<const Model> ModelConstPtr_t;
typedef boost::shared_ptr<Data> DataPtr_t;
typedef boost::shared_ptr<const Data> DataConstPtr_t;
typedef shared_ptr<Model> ModelPtr_t;
typedef shared_ptr<const Model> ModelConstPtr_t;
typedef shared_ptr<Data> DataPtr_t;
typedef shared_ptr<const Data> DataConstPtr_t;
typedef boost::shared_ptr<GeomModel> GeomModelPtr_t;
typedef boost::shared_ptr<const GeomModel> GeomModelConstPtr_t;
typedef boost::shared_ptr<GeomData> GeomDataPtr_t;
typedef boost::shared_ptr<const GeomData> GeomDataConstPtr_t;
typedef shared_ptr<GeomModel> GeomModelPtr_t;
typedef shared_ptr<const GeomModel> GeomModelConstPtr_t;
typedef shared_ptr<GeomData> GeomDataPtr_t;
typedef shared_ptr<const GeomData> GeomDataConstPtr_t;
template <typename vector_type> class LiegroupElementConstBase;
template <typename vector_type> class LiegroupElementBase;
......@@ -133,8 +133,8 @@ namespace hpp {
typedef LiegroupElementBase <vectorOut_t> LiegroupElementRef;
HPP_PREDEF_CLASS (LiegroupSpace);
typedef boost::shared_ptr <LiegroupSpace> LiegroupSpacePtr_t;
typedef boost::shared_ptr <const LiegroupSpace> LiegroupSpaceConstPtr_t;
typedef shared_ptr <LiegroupSpace> LiegroupSpacePtr_t;
typedef shared_ptr <const LiegroupSpace> LiegroupSpaceConstPtr_t;
} // namespace pinocchio
} // namespace hpp
#endif // HPP_PINOCCHIO_FWD_HH
......@@ -58,7 +58,7 @@ namespace hpp {
/// Constructor
/// \param size size of the vector space: should be the equal to
/// template argument for static sized vector-spaces.
VectorSpaceOperation (int size = boost::static_signed_max<0,Size>::value) : Base (size)
VectorSpaceOperation (int size = std::max(0,Size)) : Base (size)
{
}
......
......@@ -522,9 +522,9 @@ namespace hpp {
GeomIndex gid = gmodel.getGeometryId(gnames[i]);
GeometryObject& go = gmodel.geometryObjects[gid];
if (go.geometry->getObjectType() == fcl::OT_BVH) {
boost::shared_ptr<fcl::BVHModelBase> bvh =
HPP_DYNAMIC_PTR_CAST(fcl::BVHModelBase, go.geometry);
assert(bvh);
fcl::BVHModelBase* bvh =
dynamic_cast<fcl::BVHModelBase*>(go.geometry.get());
assert(bvh != NULL);
bvh->buildConvexHull(false, "Qx");
go.geometry = bvh->convex;
}
......
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