From 2783a10efe160a733a34dfa5b9d5c70236143bad Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Mon, 16 Jun 2014 11:57:20 +0200
Subject: [PATCH] changed to dynamic_pointer_cast to avoid deprecated
sherd_pointer_cast calls
---
source/RobotAPI/units/TCPControlUnit.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/units/TCPControlUnit.cpp b/source/RobotAPI/units/TCPControlUnit.cpp
index be1ded686..df28a28cd 100644
--- a/source/RobotAPI/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/units/TCPControlUnit.cpp
@@ -347,7 +347,7 @@ namespace armarx
DIKMap::iterator itDIK = localDIKMap.find(data.nodeSetName);
if(itDIK == localDIKMap.end())
localDIKMap[data.nodeSetName].reset(new EDifferentialIK(nodeSet, localRobot->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
- EDifferentialIKPtr dIk = boost::shared_dynamic_cast<EDifferentialIK>(localDIKMap[data.nodeSetName]);
+ EDifferentialIKPtr dIk = boost::dynamic_pointer_cast<EDifferentialIK>(localDIKMap[data.nodeSetName]);
dIk->clearGoals();
}
@@ -433,7 +433,7 @@ namespace armarx
for(; itDIK != localDIKMap.end(); itDIK++)
{
RobotNodeSetPtr robotNodeSet = localRobot->getRobotNodeSet(itDIK->first);
- EDifferentialIKPtr dIK = boost::shared_dynamic_cast<EDifferentialIK>(itDIK->second);
+ EDifferentialIKPtr dIK = boost::dynamic_pointer_cast<EDifferentialIK>(itDIK->second);
// ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << robotNodeSet->getTCP()->getGlobalPose();
// dIK->setVerbose(true);
Eigen::VectorXf jointDelta;
--
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