[URDF] Enforce backward compatibility.

src/parsers/urdf.hpp

@@ -9,9 +9,12 @@
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/geometry.hpp"
 
+#ifdef PINOCCHIO_WITH_CXX11_SUPPORT
+#include <memory>
+#endif
+
 /// \cond
-// forward declaration of the unique type from urdfdom which is expose (mostly
-// for backward compatibility).
+// forward declaration of the unique type from urdfdom which is expose.
 namespace urdf {
   class ModelInterface;
 }
@@ -77,7 +80,7 @@ namespace pinocchio
     ///       or ::urdf::parseURDFFile
     template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
     ModelTpl<Scalar,Options,JointCollectionTpl> &
-    buildModel(const ::urdf::ModelInterface* urdfTree,
+    buildModel(const boost::shared_ptr<::urdf::ModelInterface> urdfTree,
                const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointModel & rootJoint,
                ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const bool verbose = false);
@@ -94,10 +97,27 @@ namespace pinocchio
     ///       or ::urdf::parseURDFFile
     template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
     ModelTpl<Scalar,Options,JointCollectionTpl> &
-    buildModel(const ::urdf::ModelInterface* urdfTree,
+    buildModel(const boost::shared_ptr<::urdf::ModelInterface> urdfTree,
                ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const bool verbose = false);
-    
+
+#ifdef PINOCCHIO_WITH_CXX11_SUPPORT
+    /// copydoc buildModel<Scalar,Options,JointCollectionTpl>(const boost::shared_ptr<::urdf::ModelInterface>, const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointModel &, ModelTpl<Scalar,Options,JointCollectionTpl> &, const bool verbose)
+    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+    ModelTpl<Scalar,Options,JointCollectionTpl> &
+    buildModel(const std::shared_ptr<::urdf::ModelInterface> urdfTree,
+               const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointModel & rootJoint,
+               ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+               const bool verbose = false);
+
+    /// copydoc buildModel<Scalar,Options,JointCollectionTpl>(const boost::shared_ptr<::urdf::ModelInterface>, ModelTpl<Scalar,Options,JointCollectionTpl> &, const bool verbose)
+    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+    ModelTpl<Scalar,Options,JointCollectionTpl> &
+    buildModel(const std::shared_ptr<::urdf::ModelInterface> urdfTree,
+               ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+               const bool verbose = false);
+#endif
+
     ///
     /// \brief Build the model from an XML stream with a particular joint as root of the model tree inside
     /// the model given as reference argument.

src/parsers/urdf/model.hxx

@@ -421,7 +421,7 @@ namespace pinocchio
 
     template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
     ModelTpl<Scalar,Options,JointCollectionTpl> &
-    buildModel(const ::urdf::ModelInterface* urdfTree,
+    buildModel(const boost::shared_ptr<::urdf::ModelInterface> urdfTree,
                const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointModel & rootJoint,
                ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const bool verbose)
@@ -429,23 +429,52 @@ namespace pinocchio
       PINOCCHIO_CHECK_INPUT_ARGUMENT(urdfTree != NULL);
       details::UrdfVisitorWithRootJoint<Scalar, Options, JointCollectionTpl> visitor (model, rootJoint);
       if (verbose) visitor.log = &std::cout;
-      parseRootTree(urdfTree, visitor);
+      parseRootTree(urdfTree.get(), visitor);
       return model;
     }
 
     template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
     ModelTpl<Scalar,Options,JointCollectionTpl> &
-    buildModel(const ::urdf::ModelInterface* urdfTree,
+    buildModel(const boost::shared_ptr<::urdf::ModelInterface> urdfTree,
                ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const bool verbose)
     {
       PINOCCHIO_CHECK_INPUT_ARGUMENT(urdfTree != NULL);
       details::UrdfVisitor<Scalar, Options, JointCollectionTpl> visitor (model);
       if (verbose) visitor.log = &std::cout;
-      parseRootTree(urdfTree, visitor);
+      parseRootTree(urdfTree.get(), visitor);
       return model;
     }
 
+#ifdef PINOCCHIO_WITH_CXX11_SUPPORT
+    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+    ModelTpl<Scalar,Options,JointCollectionTpl> &
+    buildModel(const std::shared_ptr<::urdf::ModelInterface> urdfTree,
+               const typename ModelTpl<Scalar,Options,JointCollectionTpl>::JointModel & rootJoint,
+               ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+               const bool verbose)
+    {
+      PINOCCHIO_CHECK_INPUT_ARGUMENT(urdfTree != NULL);
+      details::UrdfVisitorWithRootJoint<Scalar, Options, JointCollectionTpl> visitor (model, rootJoint);
+      if (verbose) visitor.log = &std::cout;
+      parseRootTree(urdfTree.get(), visitor);
+      return model;
+    }
+
+    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+    ModelTpl<Scalar,Options,JointCollectionTpl> &
+    buildModel(const std::shared_ptr<::urdf::ModelInterface> urdfTree,
+               ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+               const bool verbose)
+    {
+      PINOCCHIO_CHECK_INPUT_ARGUMENT(urdfTree != NULL);
+      details::UrdfVisitor<Scalar, Options, JointCollectionTpl> visitor (model);
+      if (verbose) visitor.log = &std::cout;
+      parseRootTree(urdfTree.get(), visitor);
+      return model;
+    }
+#endif
+
   } // namespace urdf
 } // namespace pinocchio
 

unittest/urdf.cpp

@@ -139,7 +139,7 @@ BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
   ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
   
   pinocchio::Model model;
-  pinocchio::urdf::buildModel(urdfTree.get(), model);
+  pinocchio::urdf::buildModel(urdfTree, model);
   
   BOOST_CHECK(model.nq == 31);
 }
@@ -180,7 +180,7 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_UDRFTree )
   ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
   
   pinocchio::Model model;
-  pinocchio::urdf::buildModel(urdfTree.get(), pinocchio::JointModelFreeFlyer(), model);
+  pinocchio::urdf::buildModel(urdfTree, pinocchio::JointModelFreeFlyer(), model);
   
   BOOST_CHECK(model.nq == 38);
 }