changed to dynamic_pointer_cast to avoid deprecated sherd_pointer_cast calls

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;