Moving to std::shared_ptr
#218
Comments
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Why do say that hpp-fcl is C++11? This is not the case on my side. |
What do you mean exactly? |
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hpp-fcl is not yet C++11 only. In this issue, I am suggesting to change this, because this would be easier to switch all HPP at once, instead of having boost::shared_ptr in "hpp-fcl" and std::shared_ptr in "all HPP but hpp-fcl". This would require less work to get everything working again, and will be faster. And anyway, I guess we'll want to switch to For hpp-pinocchio, cf. humanoid-path-planner/hpp-pinocchio#146 |
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For me, this will break compatibility with Pinocchio, because hpp-fcl objects are exposed in the current API of Pinocchio. My veto is to wait for Pinocchio 3.x. We can discuss in private to see what is missing to launch Pinocchio 3.x |
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ok, let's synchronize this with Pinocchio 3 then. |
- use shared pointers from std instead of boost, except for hpp-fcl: humanoid-path-planner/hpp-fcl#218 - use shared pointers to class core::Problem only humanoid-path-planner/hpp-core@7641d24 - constraints::Implicit::create(func) was removed, we need to explicitely use create(func, comp) humanoid-path-planner/hpp-constraints@837e9b9 - core::ConfigProjector::add(nm, passiveDofs, priority) was removed, we need to use add(nm, priority) humanoid-path-planner/hpp-core@a658fca - include/hpp/rbprm/planner/parabola-path.hh & include/hpp/rbprm/planner/steering-method-parabola.hh were encoded in a DOS format. They have been automatically re-encoded for UNIX.
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Thanks @nim65s for your compliance. |
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#256 raised the C++ 11 question again. It has been 9 months since this discussion was started. A few questions:
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As already discussed, starting from Pinocchio 3.x. |
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Is there any technical point that for keeping c++98 for new 2.x versions ?
This reason has frozen this discussion for 9 months and there is no clear
timeline for pinocchio 3 release. I am not putting pressure on pinocchio 3.
I just think that, if there is no technical reason to keep the 98
compatibility, then at some point we may decide to move forward anyway.
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For, me the main reason is downstream users of Pinocchio who have to stick to C++98. |
Hi,
The HPP framework is now using C++11, and is therefore going move to
std::shared_ptrinstead ofboostones.Keeping
boost::shared_ptrin hpp-fcl would be a pain, and this might not be totally necessary.I suggest to move hpp-fcl to C++11 and
std::shared_ptr, and to release a new major version for this change.For pinocchio, and other third-parties that rely on hpp-fcl, this might lead to something like:
https://github.com/stack-of-tasks/pinocchio/blob/master/src/CMakeLists.txt#L51-L54
Obviously, I can handle this work, and the related updates in the HPP, SoT, loco-3d & gepetto projects, but is there any objection for this ?
My main motivation is that the current version of hpp-pinocchio is not compatible with pinocchio v2.6.0, so I can't publish pinocchio v2.6.0 on robotpkg until a new HPP release is done, and the switch to std::shared_ptr is already on-going on this new HPP release.
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