switch to unique_ptr

botsandus · May 17, 2023 · 07be02d · 07be02d
1 parent 367aa44
commit 07be02d
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
@@ -110,7 +110,7 @@ class AStarAlgorithm
  */
  bool createPath(
  CoordinateVector & path, int & num_iterations, const float & tolerance,
- std::shared_ptr<std::vector<std::tuple<float, float>>> expansions_log = nullptr);
+ std::vector<std::tuple<float, float>> * expansions_log = nullptr);
 
  /**
  * @brief Sets the collision checker to use

diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp
@@ -224,7 +224,7 @@ template<typename NodeT>
 bool AStarAlgorithm<NodeT>::createPath(
  CoordinateVector & path, int & iterations,
  const float & tolerance,
- std::shared_ptr<std::vector<std::tuple<float, float>>> expansions_log)
+ std::vector<std::tuple<float, float>> * expansions_log)
 {
  steady_clock::time_point start_time = steady_clock::now();
  _tolerance = tolerance;

diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -342,14 +342,14 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan(
  NodeHybrid::CoordinateVector path;
  int num_iterations = 0;
  std::string error;
- std::shared_ptr<std::vector<std::tuple<float, float>>> expansions = nullptr;
+ std::unique_ptr<std::vector<std::tuple<float, float>>> expansions = nullptr;
  try {
  if (_viz_expansions) {
- expansions = std::make_shared<std::vector<std::tuple<float, float>>>();
+ expansions = std::make_unique<std::vector<std::tuple<float, float>>>();
  }
  if (!_a_star->createPath(
  path, num_iterations, _tolerance / static_cast<float>(costmap->getResolution()),
- expansions))
+ expansions.get()))
  {
  if (num_iterations < _a_star->getMaxIterations()) {
  error = std::string("no valid path found");