Fix memory leak in Device

humanoid-path-planner · Sep 5, 2016 · 59c824a · 59c824a
1 parent 9dbf0e2
commit 59c824a
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Showing 3 changed files with 30 additions and 28 deletions.
diff --git a/include/hpp/pinocchio/device-object-vector.hh b/include/hpp/pinocchio/device-object-vector.hh
@@ -32,7 +32,7 @@ namespace hpp {
     struct  DeviceObjectVector
       : public FakeContainer<CollisionObjectPtr_t,CollisionObjectConstPtr_t>
     {
-      DeviceObjectVector(DevicePtr_t device)
+      DeviceObjectVector(DeviceWkPtr_t device)
       : FakeContainer<CollisionObjectPtr_t,CollisionObjectConstPtr_t>(device) {}
       DeviceObjectVector() {}
 
@@ -52,7 +52,7 @@ namespace hpp {
       JointIndex jointIndex;
       InOutType inOutType;
 
-      ObjectVector(DevicePtr_t device,const JointIndex i, InOutType inout)
+      ObjectVector(DeviceWkPtr_t device,const JointIndex i, InOutType inout)
         : FakeContainer<CollisionObjectPtr_t,CollisionObjectConstPtr_t>(device)
         , jointIndex(i), inOutType(inout) {}
       ObjectVector() {}
@@ -78,7 +78,7 @@ namespace hpp {
     struct JointVector
       : public FakeContainer<JointPtr_t,JointConstPtr_t>
     {
-      JointVector(DevicePtr_t device) : FakeContainer<JointPtr_t,JointConstPtr_t>(device) {}
+      JointVector(DeviceWkPtr_t device) : FakeContainer<JointPtr_t,JointConstPtr_t>(device) {}
       JointVector() {}
       virtual ~JointVector() {}
 

diff --git a/include/hpp/pinocchio/fake-container.hh b/include/hpp/pinocchio/fake-container.hh
@@ -39,9 +39,9 @@ namespace hpp {
       virtual size_type ibegin() const { return 0; }
       virtual size_type iend  () const { return size(); }
 
-      DevicePtr_t devicePtr;
-      FakeContainer( DevicePtr_t device ) : devicePtr(device) {}
-      FakeContainer() : devicePtr() {}
+      DeviceWkPtr_t deviceWkPtr_;
+      FakeContainer( DeviceWkPtr_t device ) : deviceWkPtr_(device) {}
+      FakeContainer() : deviceWkPtr_() {}
 
       struct iterator
       {
@@ -76,18 +76,20 @@ namespace hpp {
         bool             operator!= (const const_iterator & i2){ return idx!=i2.idx; }
       };
 
-      iterator        begin()       { assert(devicePtr); return iterator      (*this,ibegin()  ); }
-      iterator        end()         { assert(devicePtr); return iterator      (*this,iend()    ); }
-      iterator       rbegin()       { assert(devicePtr); return iterator      (*this,iend()-1  ); }
-      iterator       rend()         { assert(devicePtr); return iterator      (*this,ibegin()-1); }
+      iterator        begin()       { return iterator      (*this,ibegin()  ); }
+      iterator        end()         { return iterator      (*this,iend()    ); }
+      iterator       rbegin()       { return iterator      (*this,iend()-1  ); }
+      iterator       rend()         { return iterator      (*this,ibegin()-1); }
 
-      const_iterator  begin() const { assert(devicePtr); return const_iterator(*this,ibegin()  ); }
-      const_iterator  end()   const { assert(devicePtr); return const_iterator(*this,iend()    ); }
-      const_iterator rbegin() const { assert(devicePtr); return const_iterator(*this,iend()-1  ); }
-      const_iterator rend()   const { assert(devicePtr); return const_iterator(*this,ibegin()-1); }
+      const_iterator  begin() const { return const_iterator(*this,ibegin()  ); }
+      const_iterator  end()   const { return const_iterator(*this,iend()    ); }
+      const_iterator rbegin() const { return const_iterator(*this,iend()-1  ); }
+      const_iterator rend()   const { return const_iterator(*this,ibegin()-1); }
 
       T               operator[](const int idx)       { return at(idx); }
       Tconst          operator[](const int idx) const { return at(idx); }
+
+      DevicePtr_t device () const { assert(!deviceWkPtr_.expired()); return deviceWkPtr_.lock(); }
     };
 
   } // namespace pinocchio

diff --git a/src/device-object-vector.cc b/src/device-object-vector.cc
@@ -31,33 +31,33 @@ namespace hpp {
     CollisionObjectPtr_t DeviceObjectVector::at(const size_type i)
     { 
       selfAssert();
-      return CollisionObjectPtr_t (new CollisionObject(devicePtr,i)); 
+      return CollisionObjectPtr_t (new CollisionObject(device(),i)); 
     }
 
     CollisionObjectConstPtr_t DeviceObjectVector::at(const size_type i) const
     { 
       selfAssert();
-      return CollisionObjectConstPtr_t (new CollisionObject(devicePtr,i)); 
+      return CollisionObjectConstPtr_t (new CollisionObject(device(),i)); 
     }
 
     size_type DeviceObjectVector::size() const
-    { return devicePtr->geomModel().ngeoms; }
+    { return device()->geomModel().ngeoms; }
 
     void DeviceObjectVector::selfAssert(size_type i) const
     {
-      assert(devicePtr);
+      assert(device());
       assert(i<size());
     }
 
     /* --- ObjectVector --------------------------------------------------------- */
     CollisionObjectPtr_t ObjectVector::at(const size_type i)
     {
-      return CollisionObjectPtr_t(new CollisionObject(devicePtr, geometries()[i]));
+      return CollisionObjectPtr_t(new CollisionObject(device(), geometries()[i]));
     }
 
     CollisionObjectConstPtr_t ObjectVector::at(const size_type i) const
     {
-      return CollisionObjectConstPtr_t(new CollisionObject(devicePtr, geometries()[i]));
+      return CollisionObjectConstPtr_t(new CollisionObject(device(), geometries()[i]));
     }
 
     size_type ObjectVector::size() const
@@ -67,36 +67,36 @@ namespace hpp {
 
     void ObjectVector::selfAssert(size_type i) const
     {
-      assert(devicePtr);
-      assert(int(jointIndex)<devicePtr->model().njoint);
+      assert(device());
+      assert(int(jointIndex)<device()->model().njoint);
       assert(i<size());
     }
 
     const ObjectVector::GeomIndexList & ObjectVector::geometries() const
     {
-      if(inOutType==INNER) return devicePtr->geomModel().innerObjects[jointIndex];
-      else                 return devicePtr->geomModel().outerObjects[jointIndex];
+      if(inOutType==INNER) return device()->geomModel().innerObjects[jointIndex];
+      else                 return device()->geomModel().outerObjects[jointIndex];
     }
 
     /* --- JointVector --------------------------------------------------------- */
 
     /* Access to pinocchio index + 1 because pinocchio first joint is the universe. */
     JointPtr_t JointVector::at(const size_type i) 
-    { selfAssert(i); return JointPtr_t(new Joint(devicePtr,i+1)); }
+    { selfAssert(i); return JointPtr_t(new Joint(device(),i+1)); }
 
     /* Access to pinocchio index + 1 because pinocchio first joint is the universe. */
     JointConstPtr_t JointVector::at(const size_type i) const 
-    { selfAssert(i); return JointConstPtr_t(new Joint(devicePtr,i+1)); }
+    { selfAssert(i); return JointConstPtr_t(new Joint(device(),i+1)); }
 
     size_type JointVector::size() const 
-    { return devicePtr->model().njoint - 1; }
+    { return device()->model().njoint - 1; }
 
     size_type JointVector::iend() const 
     { return size(); }
 
     void JointVector::selfAssert(size_type i) const
     {
-      assert(devicePtr);
+      assert(device());
       assert(i>=ibegin());
       assert(i<iend());
     }