[Device] Remove weak pointer to itself and use shared_from_this instead.

Author: florent-lamiraux

include/hpp/manipulation/device.hh

@@ -55,7 +55,7 @@ class HPP_MANIPULATION_DLLAPI Device
   /// \param name of the new instance,
   static DevicePtr_t create(const std::string& name);
 
-  DevicePtr_t self() const { return self_.lock(); }
+  DevicePtr_t self() { return shared_from_this(); }
 
   /// Print object in a stream
   virtual std::ostream& print(std::ostream& os) const;
@@ -85,20 +85,15 @@ class HPP_MANIPULATION_DLLAPI Device
 
   void init(const DeviceWkPtr_t& self) {
     Parent_t::init(self);
-    self_ = self;
   }
 
   void initCopy(const DeviceWkPtr_t& self, const Device& other) {
     Parent_t::initCopy(self, other);
-    self_ = self;
   }
 
   /// For serialization only
   Device() {}
 
- private:
-  DeviceWkPtr_t self_;
-
   HPP_SERIALIZABLE();
 };  // class Device
 }  // namespace manipulation

src/device.cc

@@ -139,7 +139,7 @@ void Device::removeJoints(const std::vector<std::string>& jointNames,
   Parent_t::removeJoints(jointNames, referenceConfig);
 
   for (auto& pair : grippers.map)
-    pair.second = pinocchio::Gripper::create(pair.second->name(), self_);
+    pair.second = pinocchio::Gripper::create(pair.second->name(), shared_from_this());
   // TODO update handles and jointAndShapes
 }
 
@@ -169,7 +169,6 @@ void Device::serialize(Archive& ar, const unsigned int version) {
                    name_, false) != this);
   ar& BOOST_SERIALIZATION_NVP(written);
   if (written) {
-    ar& BOOST_SERIALIZATION_NVP(self_);
     // TODO (easy) add serialization of core::Container ?
     // ar & BOOST_SERIALIZATION_NVP(handles);
     // ar & BOOST_SERIALIZATION_NVP(grippers);