Update to shared_ptr API

open-rmf · Mar 19, 2022 · 297b02d · 297b02d
1 parent c9cc30a
commit 297b02d
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Showing 3 changed files with 14 additions and 8 deletions.
diff --git a/rmf_visualization_schedule/src/ScheduleMarkerPublisher.hpp b/rmf_visualization_schedule/src/ScheduleMarkerPublisher.hpp
@@ -209,12 +209,12 @@ class ScheduleMarkerPublisher : public rclcpp::Node
     {
       active_id.push_back(element.participant);
 
-      if (element.route.trajectory().find(traj_param.start_time) !=
-        element.route.trajectory().end())
+      if (element.route->trajectory().find(traj_param.start_time) !=
+        element.route->trajectory().end())
       {
         add_location_markers(marker_array.markers, element, traj_param);
       }
-      if (traj_param.start_time < *element.route.trajectory().finish_time())
+      if (traj_param.start_time < *element.route->trajectory().finish_time())
       {
         auto path_marker = make_path_marker(element, traj_param);
         marker_array.markers.push_back(path_marker);
@@ -499,7 +499,7 @@ class ScheduleMarkerPublisher : public rclcpp::Node
     const RequestParam& param)
   {
     // TODO Link the color, shape and size of marker to profile of trajectory
-    const auto& trajectory = element.route.trajectory();
+    const auto& trajectory = element.route->trajectory();
 
     // Find the pose of the markers
     const auto it = trajectory.find(param.start_time);
@@ -522,7 +522,7 @@ class ScheduleMarkerPublisher : public rclcpp::Node
     const RequestParam param)
   {
     // TODO Link the color, shape and size of marker to profile of trajectory
-    const auto& trajectory = element.route.trajectory();
+    const auto& trajectory = element.route->trajectory();
     const bool conflict = is_conflict(element.participant);
 
     Marker marker_msg;

diff --git a/rmf_visualization_schedule/src/rmf_visualization_schedule/ScheduleDataNode.cpp b/rmf_visualization_schedule/src/rmf_visualization_schedule/ScheduleDataNode.cpp
@@ -218,7 +218,13 @@ auto ScheduleDataNode::get_negotiation_trajectories(
       (const rmf_traffic::Route& route,
       rmf_traffic::schedule::ParticipantId id)
     {
-      Element e { id, 0, route_id, route, *table_view->get_description(id) };
+      Element e {
+        id,
+        0,
+        route_id,
+        std::make_shared<rmf_traffic::Route>(route),
+        *table_view->get_description(id)
+      };
       trajectory_elements.push_back(e);
       ++route_id;
     };

diff --git a/rmf_visualization_schedule/src/rmf_visualization_schedule/TrajectoryServer.cpp b/rmf_visualization_schedule/src/rmf_visualization_schedule/TrajectoryServer.cpp
@@ -297,10 +297,10 @@ const std::string TrajectoryServer::Implementation::parse_trajectories(
   {
     for (const auto& element : elements)
     {
-      const auto& trajectory = element.route.trajectory();
+      const auto& trajectory = element.route->trajectory();
 
       auto j_traj = _j_traj;
-      j_traj["map_name"] = element.route.map();
+      j_traj["map_name"] = element.route->map();
       j_traj["robot_name"] = element.description.name();
       j_traj["fleet_name"] = element.description.owner();
       j_traj["id"] = element.participant;