DuongTD/costmap_2d
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replace std::shared_ptr to boost::shared_ptr

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duongtd
2025-12-04 14:32:22 +07:00
parent f37bccd02f
commit af43332b28
13 changed files with 27 additions and 26 deletions
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10
src/layered_costmap.cpp
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@@ -85,7 +85,7 @@ namespace costmap_2d
boost::unique_lock<Costmap2D::mutex_t> lock(*(costmap_.getMutex()));
size_locked_ = size_locked;
costmap_.resizeMap(size_x, size_y, resolution, origin_x, origin_y);
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
(*plugin)->matchSize();
@@ -112,7 +112,7 @@ namespace costmap_2d
minx_ = miny_ = 1e30;
maxx_ = maxy_ = -1e30;
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
if (!(*plugin)->isEnabled())
@@ -148,7 +148,7 @@ namespace costmap_2d
costmap_.resetMap(x0, y0, xn, yn);
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
if ((*plugin)->isEnabled())
@@ -166,7 +166,7 @@ namespace costmap_2d
bool LayeredCostmap::isCurrent()
{
current_ = true;
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
if ((*plugin)->isEnabled())
@@ -180,7 +180,7 @@ namespace costmap_2d
footprint_ = footprint_spec;
costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
(*plugin)->onFootprintChanged();