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static factory method

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This commit is contained in:
Jackie Kay 2015-10-27 10:57:57 -07:00
parent 06818ee78c
commit 0e78ea0512
3 changed files with 5 additions and 5 deletions
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4
rclcpp/include/rclcpp/memory_strategies.hpp
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@ -31,10 +31,10 @@ using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrat
} /* memory_strategies */ } /* memory_strategies */
namespace memory_strategy { namespace memory_strategy {
MemoryStrategy::SharedPtr create_default_strategy() { static MemoryStrategy::SharedPtr create_default_strategy() {
return std::make_shared<memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>(); return std::make_shared<memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
} }
} } /* memory_strategy */
} /* rclcpp */ } /* rclcpp */

2
rclcpp/include/rclcpp/memory_strategy.hpp
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@ -38,7 +38,7 @@ class MemoryStrategy
{ {
public: public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy); RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy);
using WeakNodeVector = std::vector<std::weak_ptr<rclcpp::node::Node>>>; using WeakNodeVector = typename std::vector<std::weak_ptr<rclcpp::node::Node>>>;
// return the new number of subscribers // return the new number of subscribers
virtual size_t fill_subscriber_handles(void ** ptr) = 0; virtual size_t fill_subscriber_handles(void ** ptr) = 0;

4
rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
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@ -43,8 +43,6 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
public: public:
RCLCPP_SMART_PTR_DEFINITIONS(AllocatorMemoryStrategy<Alloc>); RCLCPP_SMART_PTR_DEFINITIONS(AllocatorMemoryStrategy<Alloc>);
using WeakNode = std::weak_ptr<rclcpp::node::Node>>;
using NodeVector = std::vector<WeakNode>;
using ExecAllocTraits = allocator::AllocRebind<executor::AnyExecutable, Alloc>; using ExecAllocTraits = allocator::AllocRebind<executor::AnyExecutable, Alloc>;
using ExecAlloc = typename ExecAllocTraits::allocator_type; using ExecAlloc = typename ExecAllocTraits::allocator_type;
@ -52,6 +50,8 @@ public:
using VoidAllocTraits = typename allocator::AllocRebind<void *, Alloc>; using VoidAllocTraits = typename allocator::AllocRebind<void *, Alloc>;
using VoidAlloc = typename VoidAllocTraits::allocator_type; using VoidAlloc = typename VoidAllocTraits::allocator_type;
using NodeVector = typename std::vector<std::weak_ptr<rclcpp::node::Node>>>;
AllocatorMemoryStrategy(std::shared_ptr<Alloc> allocator) AllocatorMemoryStrategy(std::shared_ptr<Alloc> allocator)
{ {
executable_allocator_ = std::make_shared<ExecAlloc>(*allocator.get()); executable_allocator_ = std::make_shared<ExecAlloc>(*allocator.get());