remove struct typedefs; rid raw pointers

Author: mabelzhang

include/robot_localization/robot_localization_estimator.hpp

@@ -35,8 +35,9 @@
 
 #include <boost/circular_buffer.hpp>
 #include <Eigen/Dense>
-#include <vector>
 #include <iostream>
+#include <memory>
+#include <vector>
 
 #include "robot_localization/filter_base.hpp"
 #include "robot_localization/filter_common.hpp"
@@ -96,7 +97,6 @@ enum EstimatorResult
   Failed
 };
 }  // namespace EstimatorResults
-typedef EstimatorResults::EstimatorResult EstimatorResult;
 
 namespace FilterTypes
 {
@@ -107,7 +107,6 @@ enum FilterType
   NotDefined
 };
 }  // namespace FilterTypes
-typedef FilterTypes::FilterType FilterType;
 
 //! @brief Robot Localization Listener class
 //!
@@ -125,7 +124,7 @@ class RobotLocalizationEstimator
   //!
   explicit RobotLocalizationEstimator(
     unsigned int buffer_capacity,
-    FilterType filter_type,
+    FilterTypes::FilterType filter_type,
     const Eigen::MatrixXd & process_noise_covariance,
     const std::vector<double> & filter_args = std::vector<double>());
 
@@ -148,7 +147,9 @@ class RobotLocalizationEstimator
   //!
   //! @return GetStateResult enum
   //!
-  EstimatorResult getState(const double time, EstimatorState & state) const;
+  EstimatorResults::EstimatorResult getState(
+    const double time,
+    EstimatorState & state) const;
 
   //! @brief Clears the internal state buffer
   //!
@@ -222,7 +223,7 @@ class RobotLocalizationEstimator
   //!
   //! @brief A pointer to the filter instance that is used for extrapolation
   //!
-  FilterBase * filter_;
+  std::unique_ptr<FilterBase> filter_;
 };
 
 }  // namespace robot_localization

include/robot_localization/ros_robot_localization_listener.hpp

@@ -142,7 +142,7 @@ class RosRobotLocalizationListener
   //! @brief The core state estimator that facilitates inter- and
   //! extrapolation between buffered states.
   //!
-  RobotLocalizationEstimator * estimator_{nullptr};
+  std::unique_ptr<RobotLocalizationEstimator> estimator_;
 
   //! @brief Quality of service definitions
   //!

src/robot_localization_estimator.cpp

@@ -30,6 +30,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <memory>
 #include <vector>
 
 #include "robot_localization/ekf.hpp"
@@ -42,21 +43,21 @@ namespace robot_localization
 // are accepted for alpha, kappa, beta, not just a vector, for filter_args
 RobotLocalizationEstimator::RobotLocalizationEstimator(
   unsigned int buffer_capacity,
-  FilterType filter_type,
+  FilterTypes::FilterType filter_type,
   const Eigen::MatrixXd & process_noise_covariance,
   const std::vector<double> & filter_args)
 {
   state_buffer_.set_capacity(buffer_capacity);
 
   // Set up the filter that is used for predictions
   if (filter_type == FilterTypes::EKF) {
-    filter_ = new Ekf;
+    filter_ = std::make_unique<Ekf>();
   } else if (filter_type == FilterTypes::UKF) {
     if (filter_args.size() < 3) {
-      filter_ = new Ukf();
+      filter_ = std::make_unique<Ukf>();
     } else {
-      filter_ = new Ukf();
-      static_cast<Ukf *>(filter_)->setConstants(filter_args[0], filter_args[1],
+      filter_ = std::make_unique<Ukf>();
+      dynamic_cast<Ukf *>(filter_.get())->setConstants(filter_args[0], filter_args[1],
         filter_args[2]);
     }
   }
@@ -66,7 +67,6 @@ RobotLocalizationEstimator::RobotLocalizationEstimator(
 
 RobotLocalizationEstimator::~RobotLocalizationEstimator()
 {
-  delete filter_;
 }
 
 void RobotLocalizationEstimator::setState(const EstimatorState & state)
@@ -89,7 +89,7 @@ void RobotLocalizationEstimator::setState(const EstimatorState & state)
   }
 }
 
-EstimatorResult RobotLocalizationEstimator::getState(
+EstimatorResults::EstimatorResult RobotLocalizationEstimator::getState(
   const double time,
   EstimatorState & state) const
 {

src/ros_robot_localization_listener.cpp

@@ -62,7 +62,8 @@
 
 namespace robot_localization
 {
-FilterType filterTypeFromString(const std::string & filter_type_str)
+FilterTypes::FilterType filterTypeFromString(
+  const std::string & filter_type_str)
 {
   if (filter_type_str == "ekf") {
     return FilterTypes::EKF;
@@ -74,7 +75,7 @@ FilterType filterTypeFromString(const std::string & filter_type_str)
 }
 
 RosRobotLocalizationListener::RosRobotLocalizationListener(
-  rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("robot_localization"))
+  rclcpp::Node::SharedPtr node)
 : qos1_(1),
   qos10_(10),
   odom_sub_(node, "odom/filtered", qos1_.get_rmw_qos_profile()),
@@ -92,7 +93,7 @@ RosRobotLocalizationListener::RosRobotLocalizationListener(
   std::string filter_type_str = node->declare_parameter<std::string>(
     "filter_type", std::string("ekf"));
 
-  FilterType filter_type = filterTypeFromString(filter_type_str);
+  FilterTypes::FilterType filter_type = filterTypeFromString(filter_type_str);
   if (filter_type == FilterTypes::NotDefined) {
     RCLCPP_ERROR(node_logger_->get_logger(),
       "RosRobotLocalizationListener: Parameter filter_type invalid");
@@ -142,8 +143,8 @@ RosRobotLocalizationListener::RosRobotLocalizationListener(
   std::vector<double> filter_args = node->declare_parameter<
     std::vector<double>>("filter_args", std::vector<double>());
 
-  estimator_ = new RobotLocalizationEstimator(buffer_size, filter_type,
-      process_noise_covariance, filter_args);
+  estimator_ = std::make_unique<RobotLocalizationEstimator>(buffer_size,
+      filter_type, process_noise_covariance, filter_args);
 
   sync_.registerCallback(std::bind(
       &RosRobotLocalizationListener::odomAndAccelCallback,
@@ -168,9 +169,6 @@ RosRobotLocalizationListener::RosRobotLocalizationListener(
 
 RosRobotLocalizationListener::~RosRobotLocalizationListener()
 {
-  if (estimator_) {
-    delete estimator_;
-  }
 }
 
 void RosRobotLocalizationListener::odomAndAccelCallback(