Switch to std::make_shared.

KaihongYang · Sep 27, 2016 · dad8ddc · dad8ddc
1 parent ec34ae7
commit dad8ddc
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/moveit_experimental/collision_distance_field/src/collision_world_distance_field.cpp b/moveit_experimental/collision_distance_field/src/collision_world_distance_field.cpp
@@ -38,8 +38,8 @@
 #include <moveit/collision_distance_field/collision_world_distance_field.h>
 #include <moveit/collision_distance_field/collision_common_distance_field.h>
 #include <moveit/distance_field/propagation_distance_field.h>
-#include <boost/make_shared.hpp>
 #include <boost/bind.hpp>
+#include <memory>
 
 namespace collision_detection
 {

diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -46,12 +46,13 @@
 #include <controller_manager_msgs/SwitchController.h>
 
 #include <pluginlib/class_list_macros.h>
-#include <map>
-
 #include <pluginlib/class_loader.h>
 
 #include <boost/bimap.hpp>
 
+#include <map>
+#include <memory>
+
 namespace moveit_ros_control_interface
 {
 /**
@@ -401,7 +402,7 @@ class MoveItMultiControllerManager : public moveit_controller_manager::MoveItCon
         {  // create MoveItControllerManager if it does not exists
           ROS_INFO_STREAM("Adding controller_manager interface for node at namespace " << ns);
           controller_managers_.insert(
-              std::make_pair(ns, boost::make_shared<moveit_ros_control_interface::MoveItControllerManager>(ns)));
+              std::make_pair(ns, std::make_shared<moveit_ros_control_interface::MoveItControllerManager>(ns)));
         }
       }
     }

diff --git a/moveit_plugins/moveit_ros_control_interface/src/joint_trajectory_controller_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/joint_trajectory_controller_plugin.cpp
@@ -37,8 +37,8 @@
 #include <ros/ros.h>
 #include <moveit_ros_control_interface/ControllerHandle.h>
 #include <pluginlib/class_list_macros.h>
-#include <boost/shared_ptr.hpp>
 #include <moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h>
+#include <memory>
 
 namespace moveit_ros_control_interface
 {
@@ -51,7 +51,7 @@ class JointTrajectoryControllerAllocator : public ControllerHandleAllocator
   virtual moveit_controller_manager::MoveItControllerHandlePtr alloc(const std::string &name,
                                                                      const std::vector<std::string> &resources)
   {
-    return boost::make_shared<moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle>(
+    return std::make_shared<moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle>(
         name, "follow_joint_trajectory");
   }
 };