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Made ConstraintSolver obey C++11 ownership conventions #616

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merged 3 commits into from
Feb 23, 2016
Merged

Made ConstraintSolver obey C++11 ownership conventions #616

merged 3 commits into from
Feb 23, 2016

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mkoval
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@mkoval mkoval commented Feb 22, 2016

constraint::ConstraintSolver takes ownership of the setCollisionDetector passed in to setCollisionDetector. This is not clear from the API because the function accepts a raw pointer. This leads to a SEGFAULT if you do not expect ConstraintSolver to delete your CollisionDetector.

I modified setCollisionDetector to take an unique_ptr to make the ownership transfer explicit. I also switched to storing the LCPSolver in a unique_ptr to remove the other manual delete from the ConstraintSolver destructor.

@jslee02 jslee02 added this to the DART 6.0.0 milestone Feb 23, 2016
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jslee02 commented Feb 23, 2016

👍

jslee02 added a commit that referenced this pull request Feb 23, 2016
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Merge pull request #616 from mkoval/bugfix/ConstraintSolverOwnership
a34307e 
Made ConstraintSolver obey C++11 ownership conventions
@jslee02 jslee02 merged commit a34307e into dartsim:master Feb 23, 2016
@mkoval mkoval mentioned this pull request Mar 17, 2016
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