diff options
Diffstat (limited to 'dev-ros/collada_parser/files/urdfdom1.patch')
| -rw-r--r-- | dev-ros/collada_parser/files/urdfdom1.patch | 224 |
1 files changed, 0 insertions, 224 deletions
diff --git a/dev-ros/collada_parser/files/urdfdom1.patch b/dev-ros/collada_parser/files/urdfdom1.patch deleted file mode 100644 index 139137256a8a..000000000000 --- a/dev-ros/collada_parser/files/urdfdom1.patch +++ /dev/null @@ -1,224 +0,0 @@ -Index: collada_parser/include/collada_parser/collada_parser.h -=================================================================== ---- collada_parser.orig/include/collada_parser/collada_parser.h -+++ collada_parser/include/collada_parser/collada_parser.h -@@ -47,7 +47,7 @@ - namespace urdf { - - /// \brief Load Model from string --boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_string ); -+std::shared_ptr<ModelInterface> parseCollada(const std::string &xml_string ); - - } - -Index: collada_parser/include/collada_parser/collada_parser_plugin.h -=================================================================== ---- collada_parser.orig/include/collada_parser/collada_parser_plugin.h -+++ collada_parser/include/collada_parser/collada_parser_plugin.h -@@ -46,7 +46,7 @@ class ColladaURDFParser : public URDFPar - { - public: - -- virtual boost::shared_ptr<ModelInterface> parse(const std::string &xml_string); -+ virtual std::shared_ptr<ModelInterface> parse(const std::string &xml_string); - }; - - } -Index: collada_parser/src/collada_parser.cpp -=================================================================== ---- collada_parser.orig/src/collada_parser.cpp -+++ collada_parser/src/collada_parser.cpp -@@ -176,7 +176,7 @@ public: - USERDATA(double scale) : scale(scale) { - } - double scale; -- boost::shared_ptr<void> p; ///< custom managed data -+ std::shared_ptr<void> p; ///< custom managed data - }; - - enum GeomType { -@@ -409,7 +409,7 @@ public: - }; - - public: -- ColladaModelReader(boost::shared_ptr<ModelInterface> model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) { -+ ColladaModelReader(std::shared_ptr<ModelInterface> model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) { - daeErrorHandler::setErrorHandler(this); - _resourcedir = "."; - } -@@ -715,7 +715,7 @@ protected: - } - - // find the target joint -- boost::shared_ptr<Joint> pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf); -+ std::shared_ptr<Joint> pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf); - if (!pjoint) { - continue; - } -@@ -785,7 +785,7 @@ protected: - } - BOOST_ASSERT(psymboljoint->hasAttribute("encoding")); - BOOST_ASSERT(psymboljoint->getAttribute("encoding")==std::string("COLLADA")); -- boost::shared_ptr<Joint> pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf); -+ std::shared_ptr<Joint> pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf); - if( !!pbasejoint ) { - // set the mimic properties - pjoint->mimic.reset(new JointMimic()); -@@ -801,7 +801,7 @@ protected: - } - - /// \brief Extract Link info and add it to an existing body -- boost::shared_ptr<Link> _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector<domJointRef>& vdomjoints, const KinematicsSceneBindings& bindings) { -+ std::shared_ptr<Link> _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector<domJointRef>& vdomjoints, const KinematicsSceneBindings& bindings) { - const std::list<JointAxisBinding>& listAxisBindings = bindings.listAxisBindings; - // Set link name with the name of the COLLADA's Link - std::string linkname = _ExtractLinkName(pdomlink); -@@ -817,7 +817,7 @@ protected: - } - } - -- boost::shared_ptr<Link> plink; -+ LinkSharedPtr plink; - _model->getLink(linkname,plink); - if( !plink ) { - plink.reset(new Link()); -@@ -921,7 +921,7 @@ protected: - - if (!pdomjoint || pdomjoint->typeID() != domJoint::ID()) { - ROS_WARN_STREAM(str(boost::format("could not find attached joint %s!\n")%pattfull->getJoint())); -- return boost::shared_ptr<Link>(); -+ return std::shared_ptr<Link>(); - } - - // get direct child link -@@ -952,7 +952,7 @@ protected: - } - - // create the joints before creating the child links -- std::vector<boost::shared_ptr<Joint> > vjoints(vdomaxes.getCount()); -+ std::vector<std::shared_ptr<Joint> > vjoints(vdomaxes.getCount()); - for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { - bool joint_active = true; // if not active, put into the passive list - FOREACHC(itaxisbinding,listAxisBindings) { -@@ -966,7 +966,7 @@ protected: - } - } - -- boost::shared_ptr<Joint> pjoint(new Joint()); -+ std::shared_ptr<Joint> pjoint(new Joint()); - pjoint->limits.reset(new JointLimits()); - pjoint->limits->velocity = 0.0; - pjoint->limits->effort = 0.0; -@@ -995,12 +995,12 @@ protected: - } - - _getUserData(pdomjoint)->p = pjoint; -- _getUserData(pdomaxis)->p = boost::shared_ptr<int>(new int(_model->joints_.size())); -+ _getUserData(pdomaxis)->p = std::shared_ptr<int>(new int(_model->joints_.size())); - _model->joints_[pjoint->name] = pjoint; - vjoints[ic] = pjoint; - } - -- boost::shared_ptr<Link> pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, bindings); -+ std::shared_ptr<Link> pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, bindings); - - if (!pchildlink) { - ROS_WARN_STREAM(str(boost::format("Link has no child: %s\n")%plink->name)); -@@ -1035,7 +1035,7 @@ protected: - } - - ROS_DEBUG_STREAM(str(boost::format("Joint %s assigned %d \n")%vjoints[ic]->name%ic)); -- boost::shared_ptr<Joint> pjoint = vjoints[ic]; -+ std::shared_ptr<Joint> pjoint = vjoints[ic]; - pjoint->child_link_name = pchildlink->name; - - #define PRINT_POSE(pname, apose) ROS_DEBUG(pname" pos: %f %f %f, rot: %f %f %f %f", \ -@@ -1178,7 +1178,7 @@ protected: - return plink; - } - -- boost::shared_ptr<Geometry> _CreateGeometry(const std::string& name, const std::list<GEOMPROPERTIES>& listGeomProperties) -+ urdf::GeometrySharedPtr _CreateGeometry(const std::string& name, const std::list<GEOMPROPERTIES>& listGeomProperties) - { - std::vector<std::vector<Vector3> > vertices; - std::vector<std::vector<int> > indices; -@@ -1219,12 +1219,12 @@ protected: - } - - if (vert_counter == 0) { -- boost::shared_ptr<Mesh> ret; -+ std::shared_ptr<Mesh> ret; - ret.reset(); - return ret; - } - -- boost::shared_ptr<Mesh> geometry(new Mesh()); -+ std::shared_ptr<Mesh> geometry(new Mesh()); - geometry->type = Geometry::MESH; - geometry->scale.x = 1; - geometry->scale.y = 1; -@@ -2020,7 +2020,7 @@ protected: - //std::string aname = pextra->getAttribute("name"); - domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); - if( !!tec ) { -- boost::shared_ptr<Joint> pjoint; -+ std::shared_ptr<Joint> pjoint; - daeElementRef domactuator; - { - daeElementRef bact = tec->getChild("bind_actuator"); -@@ -2413,7 +2413,7 @@ protected: - return name.substr(pos+1)==type; - } - -- boost::shared_ptr<Joint> _getJointFromRef(xsToken targetref, daeElementRef peltref) { -+ std::shared_ptr<Joint> _getJointFromRef(xsToken targetref, daeElementRef peltref) { - daeElement* peltjoint = daeSidRef(targetref, peltref).resolve().elt; - domJointRef pdomjoint = daeSafeCast<domJoint> (peltjoint); - -@@ -2426,10 +2426,10 @@ protected: - - if (!pdomjoint || pdomjoint->typeID() != domJoint::ID() || !pdomjoint->getName()) { - ROS_WARN_STREAM(str(boost::format("could not find collada joint %s!\n")%targetref)); -- return boost::shared_ptr<Joint>(); -+ return std::shared_ptr<Joint>(); - } - -- boost::shared_ptr<Joint> pjoint; -+ std::shared_ptr<Joint> pjoint; - std::string name(pdomjoint->getName()); - if (_model->joints_.find(name) == _model->joints_.end()) { - pjoint.reset(); -@@ -2797,7 +2797,7 @@ protected: - int _nGlobalSensorId, _nGlobalManipulatorId; - std::string _filename; - std::string _resourcedir; -- boost::shared_ptr<ModelInterface> _model; -+ std::shared_ptr<ModelInterface> _model; - Pose _RootOrigin; - Pose _VisualRootOrigin; - }; -@@ -2805,9 +2805,9 @@ protected: - - - --boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_str) -+std::shared_ptr<ModelInterface> parseCollada(const std::string &xml_str) - { -- boost::shared_ptr<ModelInterface> model(new ModelInterface); -+ std::shared_ptr<ModelInterface> model(new ModelInterface); - - ColladaModelReader reader(model); - if (!reader.InitFromData(xml_str)) -Index: collada_parser/src/collada_parser_plugin.cpp -=================================================================== ---- collada_parser.orig/src/collada_parser_plugin.cpp -+++ collada_parser/src/collada_parser_plugin.cpp -@@ -38,7 +38,7 @@ - #include "collada_parser/collada_parser.h" - #include <class_loader/class_loader.h> - --boost::shared_ptr<urdf::ModelInterface> urdf::ColladaURDFParser::parse(const std::string &xml_string) -+std::shared_ptr<urdf::ModelInterface> urdf::ColladaURDFParser::parse(const std::string &xml_string) - { - return urdf::parseCollada(xml_string); - } |