jakob.kampichler/libcreate
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Replace boost features with C++11 equivalents (#58)

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* Replace boost features with C++11 equivalents

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Include <cmath> in util.h

Needed for std::abs

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2020-11-01 18:05:17 -08:00 • committed by GitHub
parent 850b011a55
commit 2b9591f0f7
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17 changed files with 95 additions and 87 deletions
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11
src/create.cpp
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@ -1,8 +1,7 @@
#include <boost/bind.hpp>
#include <boost/make_shared.hpp>
#include <iostream>
#include <cmath>
#include <ctime>
#include <memory>
#include <assert.h>
#include "create/create.h"
@ -42,11 +41,11 @@ namespace create {
poseCovar = Matrix(3, 3, 0.0);
requestedLeftVel = 0;
requestedRightVel = 0;
data = boost::shared_ptr<Data>(new Data(model.getVersion()));
data = std::shared_ptr<Data>(new Data(model.getVersion()));
if (model.getVersion() == V_1) {
serial = boost::make_shared<SerialQuery>(data);
serial = std::make_shared<SerialQuery>(data);
} else {
serial = boost::make_shared<SerialStream>(data);
serial = std::make_shared<SerialStream>(data);
}
}
@ -273,7 +272,7 @@ namespace create {
float maxWait = 30; // seconds
float retryInterval = 5; //seconds
time(&start);
while (!serial->connect(port, baud, boost::bind(&Create::onData, this)) && !timeout) {
while (!serial->connect(port, baud, std::bind(&Create::onData, this)) && !timeout) {
time(&now);
if (difftime(now, start) > maxWait) {
timeout = true;