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Replace raw Observer* by a shared ptr as part of world. #3732

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Replace raw Observer* by a shared ptr as part of world. #3732

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8 changes: 4 additions & 4 deletions moveit_core/collision_detection/include/moveit/collision_detection/world.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -289,15 +289,15 @@ class World
class ObserverHandle
{
public:
ObserverHandle() : observer_(nullptr)
ObserverHandle() : observer_()
{
}

private:
ObserverHandle(const Observer* o) : observer_(o)
ObserverHandle(const std::shared_ptr<Observer>& o) : observer_(o)
{
}
const Observer* observer_;
std::weak_ptr<Observer> observer_;
friend class World;
};

Expand Down Expand Up @@ -349,6 +349,6 @@ class World
};

/// All registered observers of this world representation
std::vector<Observer*> observers_;
std::vector<std::shared_ptr<Observer>> observers_;
};
} // namespace collision_detection
11 changes: 5 additions & 6 deletions moveit_core/collision_detection/src/world.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -402,7 +402,7 @@ void World::updateGlobalPosesInternal(ObjectPtr& obj, bool update_shape_poses, b

World::ObserverHandle World::addObserver(const ObserverCallbackFn& callback)
{
const auto o = new Observer(callback);
const auto o = std::make_shared<Observer>(callback);
observers_.push_back(o);
return ObserverHandle(o);
}
Expand All @@ -411,9 +411,8 @@ void World::removeObserver(ObserverHandle observer_handle)
{
for (auto obs = observers_.begin(); obs != observers_.end(); ++obs)
{
if (*obs == observer_handle.observer_)
if (obs->get() == observer_handle.observer_.lock().get())
{
delete *obs;
observers_.erase(obs);
return;
}
Expand All @@ -428,15 +427,15 @@ void World::notifyAll(Action action)

void World::notify(const ObjectConstPtr& obj, Action action)
{
for (Observer* observer : observers_)
for (const auto& observer : observers_)
observer->callback_(obj, action);
}

void World::notifyObserverAllObjects(const ObserverHandle observer_handle, Action action) const
{
for (auto observer : observers_)
for (const auto& observer : observers_)
{
if (observer == observer_handle.observer_)
if (observer.get() == observer_handle.observer_.lock().get())
{
// call the callback for each object
for (const auto& object : objects_)
Expand Down