use std::unique_ptr

This commit is contained in:
Robert Haschke 2017-11-24 20:10:56 +01:00
parent 40cfceb557
commit 6ff5d453be
3 changed files with 11 additions and 6 deletions

View File

@ -81,6 +81,10 @@ TaskDisplay::TaskDisplay() : Display()
new rviz::Property("Tasks", QVariant(), "Tasks received on monitored topic", this); new rviz::Property("Tasks", QVariant(), "Tasks received on monitored topic", this);
} }
TaskDisplay::~TaskDisplay()
{
}
void TaskDisplay::onInitialize() void TaskDisplay::onInitialize()
{ {
Display::onInitialize(); Display::onInitialize();

View File

@ -63,8 +63,8 @@ namespace moveit_rviz_plugin
{ {
MOVEIT_CLASS_FORWARD(DisplaySolution) MOVEIT_CLASS_FORWARD(DisplaySolution)
MOVEIT_CLASS_FORWARD(TaskSolutionVisualization) class TaskSolutionVisualization;
MOVEIT_CLASS_FORWARD(TaskListModel) class TaskListModel;
class TaskDisplay : public rviz::Display class TaskDisplay : public rviz::Display
{ {
@ -72,6 +72,7 @@ class TaskDisplay : public rviz::Display
public: public:
TaskDisplay(); TaskDisplay();
~TaskDisplay();
void loadRobotModel(); void loadRobotModel();
@ -84,7 +85,7 @@ public:
virtual void onDisable(); virtual void onDisable();
void setName(const QString& name); void setName(const QString& name);
TaskListModelPtr getTaskListModel() const { return task_list_model_; } TaskListModel& getTaskListModel() { return *task_list_model_; }
void showTrajectory(const DisplaySolutionPtr& s) const; void showTrajectory(const DisplaySolutionPtr& s) const;
private Q_SLOTS: private Q_SLOTS:
@ -111,9 +112,9 @@ protected:
moveit::tools::JobQueue mainloop_jobs_; moveit::tools::JobQueue mainloop_jobs_;
// The trajectory playback component // The trajectory playback component
TaskSolutionVisualizationPtr trajectory_visual_; std::unique_ptr<TaskSolutionVisualization> trajectory_visual_;
// The TaskListModel storing actual task and solution data // The TaskListModel storing actual task and solution data
TaskListModelPtr task_list_model_; std::unique_ptr<TaskListModel> task_list_model_;
// Load robot model // Load robot model
rdf_loader::RDFLoaderPtr rdf_loader_; rdf_loader::RDFLoaderPtr rdf_loader_;

View File

@ -162,7 +162,7 @@ void TaskPanel::addTask()
display->initialize(vis_manager_); display->initialize(vis_manager_);
display->setEnabled(true); display->setEnabled(true);
task_list_model = display->getTaskListModel().get(); task_list_model = &display->getTaskListModel();
} else } else
task_list_model = d_ptr->getTaskListModel(current).first; task_list_model = d_ptr->getTaskListModel(current).first;