TMetricMapInitializer now uses shared_ptr

MRPT · Nov 6, 2023 · 5942cf8 · 5942cf8
1 parent bd79cad
commit 5942cf8
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Showing 44 changed files with 160 additions and 137 deletions.
diff --git a/apps/robot-map-gui/gui/configWidget/CConfigWidget.cpp b/apps/robot-map-gui/gui/configWidget/CConfigWidget.cpp
@@ -211,11 +211,11 @@ TSetOfMetricMapInitializers CConfigWidget::config()
 		for (auto& map : it.second)
 		{
 			const std::string sMapName = map->getName().toStdString();
-			TMetricMapInitializer* mi = mmr.factoryMapDefinition(sMapName);
+			auto mi = mmr.factoryMapDefinition(sMapName);
 			ASSERT_(mi);
 
-			map->updateConfiguration(mi);
-			mapCfg.push_back(TMetricMapInitializer::Ptr(mi));
+			map->updateConfiguration(mi.get());
+			mapCfg.push_back(mi);
 			++index;
 		}
 	}

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -10,6 +10,7 @@
       - mrpt::maps::COccupancyGridMap2D
       - mrpt::maps::COccupancyGridMap2D
     - New virtual method mrpt::maps::CMetricMap::boundingBox()
+    - mrpt::maps::TMetricMapInitializer now returns `shared_ptr`s instead of plain pointers.
   - \ref mrpt_core_grp
     - Add the `[[nodiscard]]` attribute to all functions returning a value in `<mrpt/core/bits_math.h>`
 

diff --git a/libs/maps/src/maps/CBeaconMap.cpp b/libs/maps/src/maps/CBeaconMap.cpp
@@ -69,12 +69,12 @@ void CBeaconMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CBeaconMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CBeaconMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CBeaconMap::TMapDefinition& def =
 		*dynamic_cast<const CBeaconMap::TMapDefinition*>(&_def);
-	auto* obj = new CBeaconMap();
+	auto obj = CBeaconMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CColouredOctoMap.cpp b/libs/maps/src/maps/CColouredOctoMap.cpp
@@ -68,12 +68,12 @@ void CColouredOctoMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CColouredOctoMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CColouredOctoMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CColouredOctoMap::TMapDefinition& def =
 		*dynamic_cast<const CColouredOctoMap::TMapDefinition*>(&_def);
-	auto* obj = new CColouredOctoMap(def.resolution);
+	auto obj = CColouredOctoMap::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CColouredPointsMap.cpp b/libs/maps/src/maps/CColouredPointsMap.cpp
@@ -55,12 +55,13 @@ void CColouredPointsMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->colourOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CColouredPointsMap::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	CColouredPointsMap::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CColouredPointsMap::TMapDefinition& def =
 		*dynamic_cast<const CColouredPointsMap::TMapDefinition*>(&_def);
-	auto* obj = new CColouredPointsMap();
+	auto obj = CColouredPointsMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	obj->colorScheme = def.colourOpts;

diff --git a/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp b/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
@@ -80,13 +80,13 @@ void CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap*
+mrpt::maps::CMetricMap::Ptr
 	CGasConcentrationGridMap2D::internal_CreateFromMapDefinition(
 		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CGasConcentrationGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CGasConcentrationGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CGasConcentrationGridMap2D(
+	auto obj = CGasConcentrationGridMap2D::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y,
 		def.resolution);
 	obj->insertionOptions = def.insertionOpts;

diff --git a/libs/maps/src/maps/CHeightGridMap2D.cpp b/libs/maps/src/maps/CHeightGridMap2D.cpp
@@ -70,12 +70,12 @@ void CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CHeightGridMap2D::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CHeightGridMap2D::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CHeightGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CHeightGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CHeightGridMap2D(
+	auto obj = CHeightGridMap2D::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y,
 		def.resolution);
 	obj->insertionOptions = def.insertionOpts;

diff --git a/libs/maps/src/maps/CHeightGridMap2D_MRF.cpp b/libs/maps/src/maps/CHeightGridMap2D_MRF.cpp
@@ -66,12 +66,13 @@ void CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CHeightGridMap2D_MRF::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	CHeightGridMap2D_MRF::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CHeightGridMap2D_MRF::TMapDefinition& def =
 		*dynamic_cast<const CHeightGridMap2D_MRF::TMapDefinition*>(&_def);
-	auto* obj = new CHeightGridMap2D_MRF(
+	auto obj = CHeightGridMap2D_MRF::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y, def.resolution,
 		def.run_map_estimation_at_ctor);
 	obj->insertionOptions = def.insertionOpts;

diff --git a/libs/maps/src/maps/CMultiMetricMap.cpp b/libs/maps/src/maps/CMultiMetricMap.cpp
@@ -123,7 +123,7 @@ void CMultiMetricMap::setListOfMaps(const TSetOfMetricMapInitializers& inits)
 	for (const auto& i : inits)
 	{
 		// Create map from the list of all params:
-		auto* theMap = mmr.factoryMapObjectFromDefinition(*i.get());
+		auto theMap = mmr.factoryMapObjectFromDefinition(*i.get());
 		ASSERT_(theMap);
 		// Add to the list of maps:
 		this->maps.emplace_back(theMap);

diff --git a/libs/maps/src/maps/COccupancyGridMap2D_common.cpp b/libs/maps/src/maps/COccupancyGridMap2D_common.cpp
@@ -69,12 +69,13 @@ void COccupancyGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* COccupancyGridMap2D::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	COccupancyGridMap2D::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const COccupancyGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const COccupancyGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new COccupancyGridMap2D(
+	auto obj = COccupancyGridMap2D::Create(
 		def.min_x, def.max_x, def.min_y, def.max_y, def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;

diff --git a/libs/maps/src/maps/COccupancyGridMap3D.cpp b/libs/maps/src/maps/COccupancyGridMap3D.cpp
@@ -63,11 +63,12 @@ void COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* COccupancyGridMap3D::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	COccupancyGridMap3D::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	auto& def = dynamic_cast<const COccupancyGridMap3D::TMapDefinition&>(_def);
-	auto* obj = new COccupancyGridMap3D(
+	auto obj = COccupancyGridMap3D::Create(
 		mrpt::math::TPoint3D(def.min_x, def.min_y, def.min_z),
 		mrpt::math::TPoint3D(def.max_x, def.max_y, def.max_z), def.resolution);
 	obj->insertionOptions = def.insertionOpts;

diff --git a/libs/maps/src/maps/COctoMap.cpp b/libs/maps/src/maps/COctoMap.cpp
@@ -60,12 +60,12 @@ void COctoMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* COctoMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr COctoMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const COctoMap::TMapDefinition& def =
 		*dynamic_cast<const COctoMap::TMapDefinition*>(&_def);
-	auto* obj = new COctoMap(def.resolution);
+	auto obj = COctoMap::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CPointsMapXYZI.cpp b/libs/maps/src/maps/CPointsMapXYZI.cpp
@@ -56,12 +56,12 @@ void CPointsMapXYZI::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CPointsMapXYZI::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CPointsMapXYZI::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CPointsMapXYZI::TMapDefinition& def =
 		*dynamic_cast<const CPointsMapXYZI::TMapDefinition*>(&_def);
-	auto* obj = new CPointsMapXYZI();
+	auto obj = CPointsMapXYZI::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CReflectivityGridMap2D.cpp b/libs/maps/src/maps/CReflectivityGridMap2D.cpp
@@ -65,13 +65,13 @@ void CReflectivityGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap*
+mrpt::maps::CMetricMap::Ptr
 	CReflectivityGridMap2D::internal_CreateFromMapDefinition(
 		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CReflectivityGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CReflectivityGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CReflectivityGridMap2D(
+	auto obj = CReflectivityGridMap2D::Create(
 		def.min_x, def.max_x, def.min_y, def.max_y, def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CSimplePointsMap.cpp b/libs/maps/src/maps/CSimplePointsMap.cpp
@@ -43,12 +43,12 @@ void CSimplePointsMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->renderOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CSimplePointsMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CSimplePointsMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CSimplePointsMap::TMapDefinition& def =
 		*dynamic_cast<const CSimplePointsMap::TMapDefinition*>(&_def);
-	auto* obj = new CSimplePointsMap();
+	auto obj = CSimplePointsMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	obj->renderOptions = def.renderOpts;

diff --git a/libs/maps/src/maps/CVoxelMap.cpp b/libs/maps/src/maps/CVoxelMap.cpp
@@ -45,12 +45,12 @@ void CVoxelMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CVoxelMap::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CVoxelMap::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CVoxelMap::TMapDefinition& def =
 		*dynamic_cast<const CVoxelMap::TMapDefinition*>(&_def);
-	auto* obj = new CVoxelMap(def.resolution);
+	auto obj = CVoxelMap::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CVoxelMapRGB.cpp b/libs/maps/src/maps/CVoxelMapRGB.cpp
@@ -47,12 +47,12 @@ void CVoxelMapRGB::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CVoxelMapRGB::internal_CreateFromMapDefinition(
+mrpt::maps::CMetricMap::Ptr CVoxelMapRGB::internal_CreateFromMapDefinition(
 	const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CVoxelMapRGB::TMapDefinition& def =
 		*dynamic_cast<const CVoxelMapRGB::TMapDefinition*>(&_def);
-	auto* obj = new CVoxelMapRGB(def.resolution);
+	auto obj = CVoxelMapRGB::Create(def.resolution);
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CWeightedPointsMap.cpp b/libs/maps/src/maps/CWeightedPointsMap.cpp
@@ -45,12 +45,13 @@ void CWeightedPointsMap::TMapDefinition::dumpToTextStream_map_specific(
 	this->likelihoodOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap* CWeightedPointsMap::internal_CreateFromMapDefinition(
-	const mrpt::maps::TMetricMapInitializer& _def)
+mrpt::maps::CMetricMap::Ptr
+	CWeightedPointsMap::internal_CreateFromMapDefinition(
+		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CWeightedPointsMap::TMapDefinition& def =
 		*dynamic_cast<const CWeightedPointsMap::TMapDefinition*>(&_def);
-	auto* obj = new CWeightedPointsMap();
+	auto obj = CWeightedPointsMap::Create();
 	obj->insertionOptions = def.insertionOpts;
 	obj->likelihoodOptions = def.likelihoodOpts;
 	return obj;

diff --git a/libs/maps/src/maps/CWirelessPowerGridMap2D.cpp b/libs/maps/src/maps/CWirelessPowerGridMap2D.cpp
@@ -67,13 +67,13 @@ void CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
 	this->insertionOpts.dumpToTextStream(out);
 }
 
-mrpt::maps::CMetricMap*
+mrpt::maps::CMetricMap::Ptr
 	CWirelessPowerGridMap2D::internal_CreateFromMapDefinition(
 		const mrpt::maps::TMetricMapInitializer& _def)
 {
 	const CWirelessPowerGridMap2D::TMapDefinition& def =
 		*dynamic_cast<const CWirelessPowerGridMap2D::TMapDefinition*>(&_def);
-	auto* obj = new CWirelessPowerGridMap2D(
+	auto obj = CWirelessPowerGridMap2D::Create(
 		def.mapType, def.min_x, def.max_x, def.min_y, def.max_y,
 		def.resolution);
 	obj->insertionOptions = def.insertionOpts;

diff --git a/libs/obs/include/mrpt/maps/TMetricMapInitializer.h b/libs/obs/include/mrpt/maps/TMetricMapInitializer.h
@@ -64,7 +64,7 @@ struct TMetricMapInitializer : public mrpt::config::CLoadableOptions
 
 	/** Looks up in the registry of known map types and call the corresponding
 	 * `<metric_map_class>::MapDefinition()`. */
-	static TMetricMapInitializer* factory(const std::string& mapClassName);
+	static Ptr factory(const std::string& mapClassName);
 
    protected:
 	TMetricMapInitializer(const mrpt::rtti::TRuntimeClassId* classID);
@@ -97,7 +97,7 @@ class TSetOfMetricMapInitializers : public mrpt::config::CLoadableOptions
 	template <typename MAP_DEFINITION>
 	void push_back(const MAP_DEFINITION& o)
 	{
-		m_list.push_back(TMetricMapInitializer::Ptr(new MAP_DEFINITION(o)));
+		m_list.push_back(std::make_shared<MAP_DEFINITION>(o));
 	}
 
 	void push_back(const TMetricMapInitializer::Ptr& o) { m_list.push_back(o); }