remove pointer

homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h

@@ -146,7 +146,7 @@ class SlamFilter : public ParticleFilter<SlamParticle> {
      * particles. The pose of the particle with the highest value is the first
      * element of the vector.
      */
-    std::vector<Pose>* getParticlePoses() const;
+    std::vector<Pose> getParticlePoses() const;
 
     /**
     * @return vector of all particles

homer_mapping/include/homer_mapping/slam_node.h

@@ -95,7 +95,7 @@ private:
 
   void sendTfAndPose(Pose pose);
 
-  void sendPoseArray(std::vector<Pose>* poses);
+  void sendPoseArray(std::vector<Pose> poses);
 
   Pose getInterpolatedPose(nav_msgs::Odometry::ConstPtr pose1,
                            nav_msgs::Odometry::ConstPtr pose2,

homer_mapping/src/ParticleFilter/SlamFilter.cpp

@@ -168,12 +168,12 @@ void SlamFilter::setOccupancyMap(OccupancyMap* occupancyMap)
   m_OccupancyMap = occupancyMap;
 }
 
-vector<Pose>* SlamFilter::getParticlePoses() const
+vector<Pose> SlamFilter::getParticlePoses() const
 {
-  vector<Pose>* particlePoses = new vector<Pose>();
+  vector<Pose> particlePoses;
   for (int i = 0; i < m_ParticleNum; i++)
   {
-    particlePoses->push_back(m_CurrentList[i]->getRobotPose());
+    particlePoses.push_back(m_CurrentList[i]->getRobotPose());
   }
   return particlePoses;
 }

homer_mapping/src/slam_node.cpp

@@ -158,25 +158,24 @@ void SlamNode::sendTfAndPose(Pose pose)
       transform, poseMsg.header.stamp, "map", "base_link"));
 }
 
-void SlamNode::sendPoseArray(std::vector<Pose>* poses)
+void SlamNode::sendPoseArray(std::vector<Pose> poses)
 {
   // Pose Array publishing
   geometry_msgs::PoseArray poseArray = geometry_msgs::PoseArray();
   poseArray.header.stamp = ros::Time::now();
   poseArray.header.frame_id = "/map";
 
-  for (int i = 0; i < poses->size(); i++)
+  for (int i = 0; i < poses.size(); i++)
   {
     geometry_msgs::Pose tmpPose = geometry_msgs::Pose();
-    tmpPose.position.x = poses->at(i).x();
-    tmpPose.position.y = poses->at(i).y();
-    tf::Quaternion quatTF = tf::createQuaternionFromYaw(poses->at(i).theta());
+    tmpPose.position.x = poses.at(i).x();
+    tmpPose.position.y = poses.at(i).y();
+    tf::Quaternion quatTF = tf::createQuaternionFromYaw(poses.at(i).theta());
     geometry_msgs::Quaternion quatMsg;
     tf::quaternionTFToMsg(quatTF, quatMsg);
     tmpPose.orientation = quatMsg;
     poseArray.poses.push_back(tmpPose);
   }
-  delete poses;
   m_PoseArrayPublisher.publish(poseArray);
 }