DynamicPinocchio owns a pinocchio::Data object.

Author: jmirabel

include/sot/dynamic-pinocchio/dynamic-pinocchio.h

@@ -17,6 +17,7 @@
 /* STD */
 #include <string>
 #include <map>
+#include <memory>
 
 /* SOT */
 #include <pinocchio/fwd.hpp>
@@ -29,6 +30,7 @@
 #include <sot/core/matrix-geometry.hh>
 /* Matrix */
 #include <dynamic-graph/linear-algebra.h>
+#include <sot/dynamic-pinocchio/deprecated.hh>
 
 /* PINOCCHIO */
 #include <pinocchio/macros.hpp>
@@ -80,7 +82,7 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
 
   /*  --- MODEL ATRIBUTES --- */
   pinocchio::Model* m_model;
-  pinocchio::Data* m_data;
+  std::unique_ptr<pinocchio::Data> m_data;
 
   /*  --- MODEL ATRIBUTES --- */
 
@@ -164,11 +166,15 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
 
   void setModel(pinocchio::Model*);
 
-  void setData(pinocchio::Data*);
+  void createData();
+
+  /// \deprecated this function does nothing. This class has its own
+  /// pinocchio::Data object, which can be access with \ref getData.
+  void setData(pinocchio::Data*) SOT_DYNAMIC_PINOCCHIO_DEPRECATED;
 
   pinocchio::Model* getModel() { return m_model; };
 
-  pinocchio::Data* getData() { return m_data; };
+  pinocchio::Data* getData() { return m_data.get(); };
 
   /* --- GETTERS --- */
 

src/dynamic-python-module-py.cc

@@ -20,6 +20,7 @@ BOOST_PYTHON_MODULE(wrap)
         bp::make_function(&dgs::DynamicPinocchio::getData, reference_existing_object()),
         bp::make_function(&dgs::DynamicPinocchio::setData))
     .def("setModel", &dgs::DynamicPinocchio::setModel)
+    .def("createData", &dgs::DynamicPinocchio::createData)
     .def("setData", &dgs::DynamicPinocchio::setData)
     ;
 }

src/sot-dynamic-pinocchio.cpp

@@ -35,7 +35,7 @@ const std::string dg::sot::DynamicPinocchio::CLASS_NAME = "DynamicPinocchio";
 DynamicPinocchio::DynamicPinocchio(const std::string& name)
     : Entity(name),
       m_model(NULL),
-      m_data(NULL)
+      m_data()
 
       ,
       jointPositionSIN(NULL, "sotDynamicPinocchio(" + name + ")::input(vector)::position"),
@@ -241,9 +241,15 @@ void DynamicPinocchio::setModel(pinocchio::Model* modelPtr) {
       if (pinocchio::nq(this->m_model->joints[i]) == 4)  // Spherical Joint Only
         sphericalJoints.push_back(pinocchio::idx_v(this->m_model->joints[i]));
   }
+
+  createData();
 }
 
-void DynamicPinocchio::setData(pinocchio::Data* dataPtr) { this->m_data = dataPtr; }
+void DynamicPinocchio::setData(pinocchio::Data*) {}
+
+void DynamicPinocchio::createData() {
+  m_data.reset(new pinocchio::Data (*m_model));
+}
 
 /*--------------------------------GETTERS-------------------------------------------*/