From 227f9d22fe430d6a56c6aaae9920e94ced5d413b Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 7 Sep 2021 15:54:32 +0200
Subject: [PATCH] DSControllers: fixing compiler error: incomplete type;
 boost::shared_ptr

---
 .../DSControllers/DSJointCarryController.h    |   4 +-
 .../DSControllers/DSRTBimanualController.h    |   4 +-
 .../libraries/DSControllers/DSRTController.h  | 233 +++++++++++++++++-
 3 files changed, 234 insertions(+), 7 deletions(-)

diff --git a/source/RobotAPI/libraries/DSControllers/DSJointCarryController.h b/source/RobotAPI/libraries/DSControllers/DSJointCarryController.h
index c2da13cd9..8f360615d 100644
--- a/source/RobotAPI/libraries/DSControllers/DSJointCarryController.h
+++ b/source/RobotAPI/libraries/DSControllers/DSJointCarryController.h
@@ -44,7 +44,7 @@
 namespace armarx
 {
 
-    typedef boost::shared_ptr<GMRDynamics> JointCarryGMMPtr;
+    using JointCarryGMMPtr = std::shared_ptr<GMRDynamics>;
 
     struct JointCarryGMRParameters
     {
@@ -150,7 +150,7 @@ namespace armarx
 
     };
 
-    typedef boost::shared_ptr<JointCarryGMMMotionGen> JointCarryGMMMotionGenPtr;
+    using JointCarryGMMMotionGenPtr = std::shared_ptr<JointCarryGMMMotionGen>;
 
     class DSJointCarryControllerControlData
     {
diff --git a/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.h b/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.h
index 02fc3f8ab..7a693af55 100644
--- a/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.h
+++ b/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.h
@@ -56,7 +56,7 @@ namespace armarx
 
     };
 
-    typedef boost::shared_ptr<GMRDynamics> BimanualGMMPtr;
+    using BimanualGMMPtr = std::shared_ptr<class GMRDynamics>;
 
     struct BimanualGMRParameters
     {
@@ -291,7 +291,7 @@ namespace armarx
 
     };
 
-    typedef boost::shared_ptr<BimanualGMMMotionGen> BimanualGMMMotionGenPtr;
+    using BimanualGMMMotionGenPtr = std::shared_ptr<BimanualGMMMotionGen>;
 
 
 
diff --git a/source/RobotAPI/libraries/DSControllers/DSRTController.h b/source/RobotAPI/libraries/DSControllers/DSRTController.h
index d60552cef..3ac02e59e 100644
--- a/source/RobotAPI/libraries/DSControllers/DSRTController.h
+++ b/source/RobotAPI/libraries/DSControllers/DSRTController.h
@@ -46,7 +46,7 @@ namespace armarx
         Eigen::Vector3f tcpDesiredAngularError;
     };
 
-    typedef boost::shared_ptr<GMRDynamics> GMMPtr;
+    using GMMPtr = std::shared_ptr<GMRDynamics>;
 
     struct GMRParameters
     {
@@ -155,7 +155,7 @@ namespace armarx
         Eigen::Vector3f currentDesiredVelocity;
     };
 
-    typedef boost::shared_ptr<GMMMotionGen> GMMMotionGenPtr;
+    using GMMMotionGenPtr = std::shared_ptr<GMMMotionGen>;
 
     class DSAdaptor
     {
@@ -343,7 +343,234 @@ namespace armarx
         }
     };
 
-    typedef boost::shared_ptr<DSAdaptor> DSAdaptorPtr;
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+    using DSAdaptorPtr = std::shared_ptr<DSAdaptor>;
 
 
 
-- 
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