From 270772fce6ae1bff1f82f94f3706d5bb6d1ed763 Mon Sep 17 00:00:00 2001
From: Florian Polster <fpolster@uni-koblenz.de>
Date: Sun, 19 Mar 2017 11:30:21 +0100
Subject: [PATCH] remove pointer
---
.../include/homer_mapping/ParticleFilter/SlamFilter.h | 2 +-
homer_mapping/include/homer_mapping/slam_node.h | 2 +-
homer_mapping/src/ParticleFilter/SlamFilter.cpp | 6 +++---
homer_mapping/src/slam_node.cpp | 11 +++++------
4 files changed, 10 insertions(+), 11 deletions(-)
diff --git a/homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h b/homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h
index 06be040f..2f2d2939 100644
--- a/homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h
+++ b/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
diff --git a/homer_mapping/include/homer_mapping/slam_node.h b/homer_mapping/include/homer_mapping/slam_node.h
index bb23f670..7e6b6da9 100644
--- a/homer_mapping/include/homer_mapping/slam_node.h
+++ b/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,
diff --git a/homer_mapping/src/ParticleFilter/SlamFilter.cpp b/homer_mapping/src/ParticleFilter/SlamFilter.cpp
index c77cebe7..5bc9c1c9 100644
--- a/homer_mapping/src/ParticleFilter/SlamFilter.cpp
+++ b/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;
}
diff --git a/homer_mapping/src/slam_node.cpp b/homer_mapping/src/slam_node.cpp
index f76f895d..7820e064 100644
--- a/homer_mapping/src/slam_node.cpp
+++ b/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);
}
--
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