Use shared_ptr instead of weak_ptr in DCMPlanne::initialize() function

ami-iit · Jul 17, 2020 · a4d14c1 · a4d14c1
1 parent 995a925
commit a4d14c1
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Showing 4 changed files with 22 additions and 24 deletions.
diff --git a/src/Planners/include/BipedalLocomotion/Planners/DCMPlanner.h b/src/Planners/include/BipedalLocomotion/Planners/DCMPlanner.h
@@ -52,7 +52,7 @@ class DCMPlanner : public BipedalLocomotion::System::Advanceable<DCMPlannerState
  * @param handler pointer to the parameter handler.
  * @return true in case of success/false otherwise.
  */
- virtual bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler);
+ virtual bool initialize(std::shared_ptr<ParametersHandler::IParametersHandler> handler);
 
  /**
  * Set the initial state of the planner

diff --git a/src/Planners/include/BipedalLocomotion/Planners/TimeVaryingDCMPlanner.h b/src/Planners/include/BipedalLocomotion/Planners/TimeVaryingDCMPlanner.h
@@ -46,7 +46,7 @@ class TimeVaryingDCMPlanner : public DCMPlanner
  * @param handler pointer to the parameter handler.
  * @return true in case of success/false otherwise.
  */
- bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) override;
+ bool initialize(std::shared_ptr<ParametersHandler::IParametersHandler> handler) override;
 
  /**
  * Compute the DCM trajectory.

diff --git a/src/Planners/src/DCMPlanner.cpp b/src/Planners/src/DCMPlanner.cpp
@@ -9,7 +9,7 @@
 
 using namespace BipedalLocomotion::Planners;
 
-bool DCMPlanner::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler)
+bool DCMPlanner::initialize(std::shared_ptr<ParametersHandler::IParametersHandler> handler)
 {
  return true;
 }

diff --git a/src/Planners/src/TimeVaryingDCMPlanner.cpp b/src/Planners/src/TimeVaryingDCMPlanner.cpp
@@ -580,30 +580,28 @@ TimeVaryingDCMPlanner::TimeVaryingDCMPlanner()
 
 TimeVaryingDCMPlanner::~TimeVaryingDCMPlanner() = default;
 
-bool TimeVaryingDCMPlanner::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler)
+bool TimeVaryingDCMPlanner::initialize(std::shared_ptr<ParametersHandler::IParametersHandler> handler)
 {
  assert(m_pimpl);
 
- // convert the weak_ptr into a shared_ptr
- auto ptr = handler.lock();
- if (ptr == nullptr)
+ if (handler == nullptr)
  {
- std::cerr << "[TimeVaryingDCMPlanner::initialize] The pointer to the parameter handler is "
- "expired."
+ std::cerr << "[TimeVaryingDCMPlanner::initialize] The handler has to point to an already "
+ "initialized IParametershandler."
  << std::endl;
  return false;
  }
 
- if (!ptr->getParameter("planner_sampling_time", m_pimpl->optiSettings.plannerSamplingTime))
+ if (!handler->getParameter("planner_sampling_time", m_pimpl->optiSettings.plannerSamplingTime))
  {
- std::cerr << "[TimeVaryingDCMPlanner::initialize] Unable to load the sampling time of the "
- "planner."
+ std::cerr << "[TimeVaryingDCMPlanner::initialize] Unable to load the sampling time of "
+ "the planner."
  << std::endl;
  return false;
  }
 
  int numberOfFootCorners;
- if (!ptr->getParameter("number_of_foot_corners", numberOfFootCorners))
+ if (!handler->getParameter("number_of_foot_corners", numberOfFootCorners))
  {
  std::cerr << "[TimeVaryingDCMPlanner::initialize] Unable to load the number of foot "
  "corners."
@@ -615,8 +613,8 @@ bool TimeVaryingDCMPlanner::initialize(std::weak_ptr<ParametersHandler::IParamet
 
  for(std::size_t i = 0; i < numberOfFootCorners; i++)
  {
- if (!ptr->getParameter("foot_corner_" + std::to_string(i),
- m_pimpl->optiSettings.footCorners[i]))
+ if (!handler->getParameter("foot_corner_" + std::to_string(i),
+  m_pimpl->optiSettings.footCorners[i]))
  {
  std::cerr << "[TimeVaryingDCMPlanner::initialize] Unable to load get the foot corner "
  "number: "
@@ -637,15 +635,15 @@ bool TimeVaryingDCMPlanner::initialize(std::weak_ptr<ParametersHandler::IParamet
  m_pimpl->dcmDynamicsIntegrator->setDynamicalSystem(std::make_shared<TimeVaryingDCMPlannerDynamics>());
 
  bool okCostFunctions = true;
- okCostFunctions &= ptr->getParameter("omega_dot_weight", m_pimpl->optiSettings.omegaDotWeight);
- okCostFunctions &= ptr->getParameter("dcm_tracking_weight", m_pimpl->optiSettings.dcmTrackingWeight);
- okCostFunctions &= ptr->getParameter("omega_dot_rate_of_change_weight",
- m_pimpl->optiSettings.omegaDotRateOfChangeWeight);
- okCostFunctions &= ptr->getParameter("vrp_rate_of_change_weight",
- m_pimpl->optiSettings.vrpRateOfChangeWeight);
-
- okCostFunctions &= ptr->getParameter("dcm_rate_of_change_weight",
- m_pimpl->optiSettings.dcmRateOfChangeWeight);
+ okCostFunctions &= handler->getParameter("omega_dot_weight", m_pimpl->optiSettings.omegaDotWeight);
+ okCostFunctions &= handler->getParameter("dcm_tracking_weight", m_pimpl->optiSettings.dcmTrackingWeight);
+ okCostFunctions &= handler->getParameter("omega_dot_rate_of_change_weight",
+  m_pimpl->optiSettings.omegaDotRateOfChangeWeight);
+ okCostFunctions &= handler->getParameter("vrp_rate_of_change_weight",
+  m_pimpl->optiSettings.vrpRateOfChangeWeight);
+
+ okCostFunctions &= handler->getParameter("dcm_rate_of_change_weight",
+  m_pimpl->optiSettings.dcmRateOfChangeWeight);
 
  if (!okCostFunctions)
  {