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Disambiguate call to method shared_from_this #197

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Merged
florent-lamiraux merged 3 commits into from
Mar 3, 2025
Merged

Disambiguate call to method shared_from_this #197

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f2cd5cc
Disambiguate call to method shared_from_this.
florent-lamiraux Jan 31, 2025
bfb5273
[Edge] Compute forward kinematics before filtering collision pair.
florent-lamiraux Feb 28, 2025
bca88c7
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Feb 28, 2025
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4 changes: 3 additions & 1 deletion include/hpp/manipulation/device.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,9 @@ class HPP_MANIPULATION_DLLAPI Device
/// \param name of the new instance,
static DevicePtr_t create(const std::string& name);

DevicePtr_t self() { return shared_from_this(); }
DevicePtr_t self() {
return enable_shared_from_this<Device>::shared_from_this();
}

/// Print object in a stream
virtual std::ostream& print(std::ostream& os) const;
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5 changes: 3 additions & 2 deletions src/device.cc
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Expand Up @@ -139,8 +139,9 @@ 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(), shared_from_this());
pair.second = pinocchio::Gripper::create(
pair.second->name(),
std::enable_shared_from_this<Device>::shared_from_this());
// TODO update handles and jointAndShapes
}

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4 changes: 4 additions & 0 deletions src/graph/edge.cc
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Expand Up @@ -302,6 +302,10 @@ ConstraintSetPtr_t Edge::buildPathConstraint() {
shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) {
// Compute forward kinematics and geometry placement to avoid assertions on
// non initialized data
g->robot()->computeForwardKinematics(pinocchio::COMPUTE_ALL);
g->robot()->updateGeometryPlacements();
relMotion_ = RelativeMotion::matrix(g->robot());
RelativeMotion::fromConstraint(relMotion_, g->robot(), constraint);
oui->filterCollisionPairs(relMotion_);
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