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fix possible memory leak in Robot module

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This commit is contained in:
wmayer
2017-09-15 12:15:02 +02:00
parent 770c9ce095
commit 501729a84c
1 changed files with 17 additions and 16 deletions
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33
src/Mod/Robot/App/Trajectory.cpp
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@@ -24,6 +24,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <memory>
#endif
#include <Base/Writer.h>
@@ -153,11 +154,10 @@ void Trajectory::generateTrajectory(void)
pcTrajectory = new KDL::Trajectory_Composite();
// pointer to the pieces while iterating
KDL::Trajectory_Segment *pcTrak=0;
KDL::Path *pcPath=0;
KDL::VelocityProfile *pcVelPrf=0;
KDL::Path_RoundedComposite *pcRoundComp=0;
KDL::Frame Last;
std::unique_ptr<KDL::Trajectory_Segment> pcTrak;
std::unique_ptr<KDL::VelocityProfile> pcVelPrf;
std::unique_ptr<KDL::Path_RoundedComposite> pcRoundComp;
KDL::Frame Last;
try {
// handle the first waypoint special
@@ -177,11 +177,11 @@ void Trajectory::generateTrajectory(void)
// continues the movement until no continus waypoint or the end
bool Cont = (*it)->Cont && !(it==--vpcWaypoints.end());
// start of a continue block
if (Cont && pcRoundComp==0) {
pcRoundComp = new KDL::Path_RoundedComposite(3, 3,
new KDL::RotationalInterpolation_SingleAxis());
if (Cont && !pcRoundComp) {
pcRoundComp.reset(new KDL::Path_RoundedComposite(3, 3,
new KDL::RotationalInterpolation_SingleAxis()));
// the velocity of the first waypoint is used
pcVelPrf = new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration);
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration));
pcRoundComp->Add(Last);
pcRoundComp->Add(Next);
@@ -196,21 +196,22 @@ void Trajectory::generateTrajectory(void)
pcRoundComp->Add(Next);
pcRoundComp->Finish();
pcVelPrf->SetProfile(0,pcRoundComp->PathLength());
pcTrak = new KDL::Trajectory_Segment(pcRoundComp,pcVelPrf);
pcRoundComp = 0;
pcTrak.reset(new KDL::Trajectory_Segment(pcRoundComp.release(),pcVelPrf.release()));
// normal block
}
else if (Cont==false && pcRoundComp==0){
else if (Cont==false && !pcRoundComp){
KDL::Path* pcPath;
pcPath = new KDL::Path_Line(Last,
Next,
new KDL::RotationalInterpolation_SingleAxis(),
1.0,
true
);
pcVelPrf = new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration);
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration));
pcVelPrf->SetProfile(0,pcPath->PathLength());
pcTrak = new KDL::Trajectory_Segment(pcPath,pcVelPrf);
pcTrak.reset(new KDL::Trajectory_Segment(pcPath,pcVelPrf.release()));
}
Last = Next;
break;}
@@ -221,8 +222,8 @@ void Trajectory::generateTrajectory(void)
}
// add the segment if no continuous block is running
if (!pcRoundComp)
pcTrajectory->Add(pcTrak);
if (!pcRoundComp && pcTrak)
pcTrajectory->Add(pcTrak.release());
}
}
}