[Device] Make class derive from std::enable_shared_from_this.

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.9.1
+  rev: v0.9.2
   hooks:
   - id: ruff
     args:
@@ -19,7 +19,7 @@ repos:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v19.1.6
+  rev: v19.1.7
   hooks:
   - id: clang-format
     args:

include/hpp/manipulation/device.hh

@@ -45,20 +45,17 @@ namespace manipulation {
 ///
 /// This class also contains pinocchio::Gripper, Handle and \ref
 /// JointAndShapes_t
-class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
+class HPP_MANIPULATION_DLLAPI Device
+    : public pinocchio::HumanoidRobot,
+      public std::enable_shared_from_this<Device> {
  public:
   typedef pinocchio::HumanoidRobot Parent_t;
 
   /// Constructor
   /// \param name of the new instance,
-  static DevicePtr_t create(const std::string& name) {
-    Device* ptr = new Device(name);
-    DevicePtr_t shPtr(ptr);
-    ptr->init(shPtr);
-    return shPtr;
-  }
+  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;
@@ -84,24 +81,17 @@ class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
   /// \param name of the new instance,
   /// \param robot Robots that manipulate objects,
   /// \param objects Set of objects manipulated by the robot.
-  Device(const std::string& name) : Parent_t(name) {}
+  Device(const std::string& name);
 
-  void init(const DeviceWkPtr_t& self) {
-    Parent_t::init(self);
-    self_ = self;
-  }
+  void init(const DeviceWkPtr_t& self) { Parent_t::init(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

@@ -43,6 +43,15 @@ namespace hpp {
 namespace manipulation {
 using ::pinocchio::Frame;
 
+DevicePtr_t Device::create(const std::string& name) {
+  Device* ptr = new Device(name);
+  DevicePtr_t shPtr(ptr);
+  ptr->init(shPtr);
+  return shPtr;
+}
+
+Device::Device(const std::string& name) : Parent_t(name) {}
+
 pinocchio::DevicePtr_t Device::clone() const {
   Device* ptr = new Device(*this);
   DevicePtr_t shPtr(ptr);
@@ -130,7 +139,8 @@ 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
 }
 
@@ -160,7 +170,6 @@ 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);