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Use of auto to prevent collisions between std and boost shared pointers in Kinematics #129

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Use of auto to prevent collisions between std and boost shared pointers in Kinematics #129

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7 changes: 3 additions & 4 deletions baxter_sim_kinematics/src/arm_kinematics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -245,14 +245,13 @@ bool Kinematics::loadModel(const std::string xml) {
*/
bool Kinematics::readJoints(urdf::Model &robot_model) {
num_joints = 0;
boost::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
boost::shared_ptr<const urdf::Joint> joint;
auto link = robot_model.getLink(tip_name);
for (int i = 0; i < chain.getNrOfSegments(); i++)
while (link && link->name != root_name) {
if (!(link->parent_joint)) {
break;
}
joint = robot_model.getJoint(link->parent_joint->name);
auto joint = robot_model.getJoint(link->parent_joint->name);
if (!joint) {
ROS_ERROR("Could not find joint: %s", link->parent_joint->name.c_str());
return false;
Expand All @@ -272,7 +271,7 @@ bool Kinematics::readJoints(urdf::Model &robot_model) {
link = robot_model.getLink(tip_name);
unsigned int i = 0;
while (link && i < num_joints) {
joint = robot_model.getJoint(link->parent_joint->name);
auto joint = robot_model.getJoint(link->parent_joint->name);
if (joint->type != urdf::Joint::UNKNOWN
&& joint->type != urdf::Joint::FIXED) {
ROS_INFO("getting bounds for joint: [%s]", joint->name.c_str());
Expand Down