Merge remote-tracking branch 'origin/release-6.4'

Conflicts: CHANGELOG.md
dartsim · Feb 1, 2018 · 8c5cc9e · 8c5cc9e
1 parent 443300d
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Showing 16 changed files with 27 additions and 17 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -34,8 +34,9 @@
 
 * Misc
 
-  * Suppressed warnings: [#937](https://github.com/dartsim/dart/pull/937)
-  * Suppressed warnings: [#937](https://github.com/dartsim/dart/pull/937)
+  * Added World::create(): [#962](https://github.com/dartsim/dart/pull/962)
+  * Suppressed -Winjected-class-name warnings from Clang 5.0.0: [#964](https://github.com/dartsim/dart/pull/964)
+  * Suppressed -Wdangling-else warnings from GCC 7.2.0: [#937](https://github.com/dartsim/dart/pull/937)
   * Fixed various build issues with Visual Studio: [#956](https://github.com/dartsim/dart/pull/956)
 
 ### [DART 6.3.0 (2017-10-04)](https://github.com/dartsim/dart/milestone/36?closed=1)

diff --git a/ci/install_osx.sh b/ci/install_osx.sh
@@ -11,7 +11,7 @@ brew install boost | grep -v '%$'
 brew install eigen | grep -v '%$'
 brew install tinyxml | grep -v '%$'
 brew install tinyxml2 | grep -v '%$'
-brew install dartsim/dart/libccd | grep -v '%$'
+brew install libccd | grep -v '%$'
 brew install nlopt | grep -v '%$'
 brew install dartsim/dart/ipopt | grep -v '%$'
 brew install ros/deps/urdfdom | grep -v '%$'

diff --git a/dart/io/SkelParser.cpp b/dart/io/SkelParser.cpp
@@ -687,7 +687,7 @@ simulation::WorldPtr readWorld(
   assert(_worldElement != nullptr);
 
   // Create a world
-  simulation::WorldPtr newWorld(new simulation::World);
+  simulation::WorldPtr newWorld = simulation::World::create();
 
   //--------------------------------------------------------------------------
   // Load physics

diff --git a/dart/io/sdf/SdfParser.cpp b/dart/io/sdf/SdfParser.cpp
@@ -369,7 +369,7 @@ simulation::WorldPtr readWorld(
   assert(worldElement != nullptr);
 
   // Create a world
-  simulation::WorldPtr newWorld(new simulation::World);
+  simulation::WorldPtr newWorld = simulation::World::create();
 
   //--------------------------------------------------------------------------
   // Name attribute

diff --git a/dart/io/urdf/DartLoader.cpp b/dart/io/urdf/DartLoader.cpp
@@ -160,7 +160,7 @@ simulation::WorldPtr DartLoader::parseWorldString(
     return nullptr;
   }
 
-  simulation::WorldPtr world(new simulation::World);
+  simulation::WorldPtr world = simulation::World::create();
 
   for(std::size_t i = 0; i < worldInterface->models.size(); ++i)
   {

diff --git a/dart/simulation/World.cpp b/dart/simulation/World.cpp
@@ -51,6 +51,12 @@
 namespace dart {
 namespace simulation {
 
+//==============================================================================
+std::shared_ptr<World> World::create(const std::string& name)
+{
+  return std::make_shared<World>(name);
+}
+
 //==============================================================================
 World::World(const std::string& _name)
   : mName(_name),
@@ -83,7 +89,7 @@ World::~World()
 //==============================================================================
 WorldPtr World::clone() const
 {
-  WorldPtr worldClone(new World(mName));
+  WorldPtr worldClone = World::create(mName);
 
   worldClone->setGravity(mGravity);
   worldClone->setTimeStep(mTimeStep);

diff --git a/dart/simulation/World.hpp b/dart/simulation/World.hpp
@@ -86,6 +86,9 @@ class World : public virtual common::Subject
   // Constructor and Destructor
   //--------------------------------------------------------------------------
 
+  /// Creates a World
+  static std::shared_ptr<World> create(const std::string& name = "world");
+
   /// Constructor
   World(const std::string& _name = "world");
 

diff --git a/examples/atlasSimbicon/Main.cpp b/examples/atlasSimbicon/Main.cpp
@@ -50,7 +50,7 @@ using namespace dart::io;
 int main(int argc, char* argv[])
 {
   // Create empty soft world
-  WorldPtr myWorld(new World);
+  WorldPtr myWorld = World::create();
 
   // Load ground and Atlas robot and add them to the world
   DartLoader urdfLoader;

diff --git a/examples/osgExamples/osgAtlasPuppet/osgAtlasPuppet.cpp b/examples/osgExamples/osgAtlasPuppet/osgAtlasPuppet.cpp
@@ -837,7 +837,7 @@ void enableDragAndDrops(dart::gui::osg::Viewer& viewer, const SkeletonPtr& atlas
 
 int main()
 {
-  WorldPtr world(new World);
+  WorldPtr world = World::create();
 
   SkeletonPtr atlas = createAtlas();
   world->addSkeleton(atlas);

diff --git a/tutorials/tutorialMultiPendulum-Finished/tutorialMultiPendulum-Finished.cpp b/tutorials/tutorialMultiPendulum-Finished/tutorialMultiPendulum-Finished.cpp
@@ -438,7 +438,7 @@ int main(int argc, char* argv[])
   pendulum->getDof(1)->setPosition(120 * M_PI / 180.0);
 
   // Create a world and add the pendulum to the world
-  WorldPtr world(new World);
+  WorldPtr world = World::create();
   world->addSkeleton(pendulum);
 
   // Create a window for rendering the world and handling user input

diff --git a/tutorials/tutorialMultiPendulum/tutorialMultiPendulum.cpp b/tutorials/tutorialMultiPendulum/tutorialMultiPendulum.cpp
@@ -367,7 +367,7 @@ int main(int argc, char* argv[])
   pendulum->getDof(1)->setPosition(120 * M_PI / 180.0);
 
   // Create a world and add the pendulum to the world
-  WorldPtr world(new World);
+  WorldPtr world = World::create();
   world->addSkeleton(pendulum);
 
   // Create a window for rendering the world and handling user input

diff --git a/unittests/comprehensive/test_Building.cpp b/unittests/comprehensive/test_Building.cpp
@@ -81,7 +81,7 @@ TEST(BUILDING, BASIC)
   joint3->setAxis(Eigen::Vector3d(1.0, 0.0, 0.0));
 
   // World
-  WorldPtr world(new World);
+  WorldPtr world = World::create();
   world->addSkeleton(skel1);
 
 	//--------------------------------------------------------------------------

diff --git a/unittests/comprehensive/test_Constraint.cpp b/unittests/comprehensive/test_Constraint.cpp
@@ -116,7 +116,7 @@ void ConstraintTest::SingleContactTest(const std::string& /*_fileName*/)
   // std::size_t testCount = 1;
 #endif
 
-  WorldPtr world(new World);
+  WorldPtr world = World::create();
   EXPECT_TRUE(world != nullptr);
   world->setGravity(Vector3d(0.0, -10.00, 0.0));
   world->setTimeStep(0.001);

diff --git a/unittests/comprehensive/test_Joints.cpp b/unittests/comprehensive/test_Joints.cpp
@@ -667,7 +667,7 @@ void testServoMotor()
   double insufficient_force = 1e-1;
 
   // World
-  simulation::WorldPtr world(new simulation::World);
+  simulation::WorldPtr world = simulation::World::create();
   EXPECT_TRUE(world != nullptr);
 
   world->setGravity(Eigen::Vector3d(0, 0, -9.81));

diff --git a/unittests/comprehensive/test_World.cpp b/unittests/comprehensive/test_World.cpp
@@ -54,7 +54,7 @@ using namespace simulation;
 TEST(World, AddingAndRemovingSkeletons)
 {
   // World
-  WorldPtr world(new World);
+  WorldPtr world = World::create();
 
   //-------------------- Test World::removeSkeleton() ------------------------
   SkeletonPtr skeleton1 = createThreeLinkRobot(Eigen::Vector3d(1.0, 1.0, 1.0),

diff --git a/unittests/unit/test_VskParser.cpp b/unittests/unit/test_VskParser.cpp
@@ -51,7 +51,7 @@ using namespace io;
 //==============================================================================
 TEST(VskParser, EmptySkeleton)
 {
-  WorldPtr world(new World());
+  WorldPtr world = World::create();
   EXPECT_TRUE(world != nullptr);
 
   SkeletonPtr skeleton
@@ -67,7 +67,7 @@ TEST(VskParser, EmptySkeleton)
 //==============================================================================
 TEST(VskParser, SingleStepSimulations)
 {
-  WorldPtr world(new World());
+  WorldPtr world = World::create();
   EXPECT_NE(world , nullptr);
 
   SkeletonPtr nick