fixed microsoft#809

ian2009 · Feb 13, 2018 · a113686 · a113686
1 parent 1c07c9b
commit a113686
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Showing 5 changed files with 9 additions and 9 deletions.
diff --git a/AirLib/include/vehicles/multirotor/MultiRotorParamsFactory.hpp b/AirLib/include/vehicles/multirotor/MultiRotorParamsFactory.hpp
@@ -15,7 +15,7 @@ namespace msr { namespace airlib {
 
 class MultiRotorParamsFactory {
 public:
-    static std::unique_ptr<MultiRotorParams> createConfig(const std::string& vehicle_name, const SensorFactory* sensor_factory)
+    static std::unique_ptr<MultiRotorParams> createConfig(const std::string& vehicle_name, std::shared_ptr<const SensorFactory> sensor_factory)
     {
         AirSimSettings::VehicleSettings vehicle_settings = 
             AirSimSettings::singleton().getVehicleSettings(vehicle_name);

diff --git a/AirLib/include/vehicles/multirotor/configs/Px4MultiRotor.hpp b/AirLib/include/vehicles/multirotor/configs/Px4MultiRotor.hpp
@@ -13,7 +13,7 @@ namespace msr { namespace airlib {
 
 class Px4MultiRotor : public MultiRotorParams {
 public:
-    Px4MultiRotor(const AirSimSettings::VehicleSettings& vehicle_settings, const SensorFactory* sensor_factory)
+    Px4MultiRotor(const AirSimSettings::VehicleSettings& vehicle_settings, std::shared_ptr<const SensorFactory> sensor_factory)
         : sensor_factory_(sensor_factory)
     {
         connection_info_ = getConnectionInfo(vehicle_settings);
@@ -287,7 +287,7 @@ class Px4MultiRotor : public MultiRotorParams {
 
 private:
     MavLinkDroneController::ConnectionInfo connection_info_;
-    const SensorFactory* sensor_factory_;
+    std::shared_ptr<const SensorFactory> sensor_factory_;
 
 };
 

diff --git a/AirLib/include/vehicles/multirotor/configs/RosFlightQuadX.hpp b/AirLib/include/vehicles/multirotor/configs/RosFlightQuadX.hpp
@@ -14,7 +14,7 @@ namespace msr { namespace airlib {
 
 class RosFlightQuadX : public MultiRotorParams {
 public:
-    RosFlightQuadX(const AirSimSettings::VehicleSettings& vehicle_settings, const SensorFactory* sensor_factory)
+    RosFlightQuadX(const AirSimSettings::VehicleSettings& vehicle_settings, std::shared_ptr<const SensorFactory> sensor_factory)
         : sensor_factory_(sensor_factory)
     {
         unused(vehicle_settings);
@@ -73,7 +73,7 @@ class RosFlightQuadX : public MultiRotorParams {
 
 private:
     vector<unique_ptr<SensorBase>> sensor_storage_;
-    const SensorFactory* sensor_factory_;
+    std::shared_ptr<const SensorFactory> sensor_factory_;
 
 };
 

diff --git a/AirLib/include/vehicles/multirotor/configs/SimpleFlightQuadX.hpp b/AirLib/include/vehicles/multirotor/configs/SimpleFlightQuadX.hpp
@@ -14,7 +14,7 @@ namespace msr { namespace airlib {
 
 class SimpleFlightQuadX : public MultiRotorParams {
 public:
-    SimpleFlightQuadX(const AirSimSettings::VehicleSettings& vehicle_settings, const SensorFactory* sensor_factory)
+    SimpleFlightQuadX(const AirSimSettings::VehicleSettings& vehicle_settings, std::shared_ptr<const SensorFactory> sensor_factory)
         : vehicle_settings_(vehicle_settings), sensor_factory_(sensor_factory)
     {
     }
@@ -69,7 +69,7 @@ class SimpleFlightQuadX : public MultiRotorParams {
 private:
     vector<unique_ptr<SensorBase>> sensor_storage_;
     AirSimSettings::VehicleSettings vehicle_settings_;
-    const SensorFactory* sensor_factory_;
+    std::shared_ptr<const SensorFactory> sensor_factory_;
 };
 
 }} //namespace

diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp b/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp
@@ -184,8 +184,8 @@ void ASimModeWorldMultiRotor::createVehicles(std::vector<VehiclePtr>& vehicles)
 
 ASimModeWorldBase::VehiclePtr ASimModeWorldMultiRotor::createVehicle(VehiclePawnWrapper* wrapper)
 {
-    UnrealSensorFactory sensor_factory(wrapper->getPawn());
-    auto vehicle_params = MultiRotorParamsFactory::createConfig(wrapper->getVehicleConfigName(), & sensor_factory);
+    std::shared_ptr<UnrealSensorFactory> sensor_factory = std::make_shared<UnrealSensorFactory>(wrapper->getPawn());
+    auto vehicle_params = MultiRotorParamsFactory::createConfig(wrapper->getVehicleConfigName(), sensor_factory);
 
     vehicle_params_.push_back(std::move(vehicle_params));