shared_ptr<X> -> X::SharedPtr

controller_interface/include/controller_interface/chainable_controller_interface.hpp

@@ -59,11 +59,10 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   bool is_chainable() const final;
 
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces() final;
+  std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() final;
 
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> export_reference_interfaces()
-    final;
+  std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;
 
   CONTROLLER_INTERFACE_PUBLIC
   bool set_chained_mode(bool chained_mode) final;
@@ -134,9 +133,8 @@ class ChainableControllerInterface : public ControllerInterfaceBase
 
   /// Storage of values for state interfaces
   std::vector<std::string> exported_state_interface_names_;
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>>
-    ordered_exported_state_interfaces_;
-  std::unordered_map<std::string, std::shared_ptr<hardware_interface::StateInterface>>
+  std::vector<hardware_interface::StateInterface::SharedPtr> ordered_exported_state_interfaces_;
+  std::unordered_map<std::string, hardware_interface::StateInterface::SharedPtr>
     exported_state_interfaces_;
   // BEGIN (Handle export change): for backward compatibility
   std::vector<double> state_interfaces_values_;
@@ -147,8 +145,8 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   // BEGIN (Handle export change): for backward compatibility
   std::vector<double> reference_interfaces_;
   // END
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> ordered_reference_interfaces_;
-  std::unordered_map<std::string, std::shared_ptr<hardware_interface::CommandInterface>>
+  std::vector<hardware_interface::CommandInterface::SharedPtr> ordered_reference_interfaces_;
+  std::unordered_map<std::string, hardware_interface::CommandInterface::SharedPtr>
     reference_interfaces_ptrs_;
 
 private:

controller_interface/include/controller_interface/controller_interface.hpp

@@ -47,16 +47,15 @@ class ControllerInterface : public controller_interface::ControllerInterfaceBase
    * \returns empty list.
    */
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>> export_state_interfaces() final;
+  std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() final;
 
   /**
    * Controller has no reference interfaces.
    *
    * \returns empty list.
    */
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> export_reference_interfaces()
-    final;
+  std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;
 
   /**
    * Controller is not chainable, therefore no chained mode can be set.

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -235,7 +235,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * \returns list of command interfaces for preceding controllers.
    */
   CONTROLLER_INTERFACE_PUBLIC
-  virtual std::vector<std::shared_ptr<hardware_interface::CommandInterface>>
+  virtual std::vector<hardware_interface::CommandInterface::SharedPtr>
   export_reference_interfaces() = 0;
 
   /**
@@ -245,8 +245,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * \returns list of state interfaces for preceding controllers.
    */
   CONTROLLER_INTERFACE_PUBLIC
-  virtual std::vector<std::shared_ptr<hardware_interface::StateInterface>>
-  export_state_interfaces() = 0;
+  virtual std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() = 0;
 
   /**
    * Set chained mode of a chainable controller. This method triggers internal processes to switch

controller_interface/src/chainable_controller_interface.cpp

@@ -44,11 +44,11 @@ return_type ChainableControllerInterface::update(
   return ret;
 }
 
-std::vector<std::shared_ptr<hardware_interface::StateInterface>>
+std::vector<hardware_interface::StateInterface::SharedPtr>
 ChainableControllerInterface::export_state_interfaces()
 {
   auto state_interfaces = on_export_state_interfaces();
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>> state_interfaces_ptrs_vec;
+  std::vector<hardware_interface::StateInterface::SharedPtr> state_interfaces_ptrs_vec;
   state_interfaces_ptrs_vec.reserve(state_interfaces.size());
   ordered_exported_state_interfaces_.reserve(state_interfaces.size());
   exported_state_interface_names_.reserve(state_interfaces.size());
@@ -94,11 +94,11 @@ ChainableControllerInterface::export_state_interfaces()
   return state_interfaces_ptrs_vec;
 }
 
-std::vector<std::shared_ptr<hardware_interface::CommandInterface>>
+std::vector<hardware_interface::CommandInterface::SharedPtr>
 ChainableControllerInterface::export_reference_interfaces()
 {
   auto reference_interfaces = on_export_reference_interfaces();
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> reference_interfaces_ptrs_vec;
+  std::vector<hardware_interface::CommandInterface::SharedPtr> reference_interfaces_ptrs_vec;
   reference_interfaces_ptrs_vec.reserve(reference_interfaces.size());
   exported_reference_interface_names_.reserve(reference_interfaces.size());
   ordered_reference_interfaces_.reserve(reference_interfaces.size());
@@ -134,7 +134,7 @@ ChainableControllerInterface::export_reference_interfaces()
       throw std::runtime_error(error_msg);
     }
 
-    std::shared_ptr<hardware_interface::CommandInterface> reference_interface =
+    hardware_interface::CommandInterface::SharedPtr reference_interface =
       std::make_shared<hardware_interface::CommandInterface>(std::move(interface));
     const auto inteface_name = reference_interface->get_name();
     // check the exported interface name is unique

controller_interface/src/controller_interface.cpp

@@ -22,13 +22,13 @@ ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}
 
 bool ControllerInterface::is_chainable() const { return false; }
 
-std::vector<std::shared_ptr<hardware_interface::StateInterface>>
+std::vector<hardware_interface::StateInterface::SharedPtr>
 ControllerInterface::export_state_interfaces()
 {
   return {};
 }
 
-std::vector<std::shared_ptr<hardware_interface::CommandInterface>>
+std::vector<hardware_interface::CommandInterface::SharedPtr>
 ControllerInterface::export_reference_interfaces()
 {
   return {};

controller_interface/test/test_chainable_controller_interface.cpp

@@ -89,13 +89,13 @@ TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
   controller.set_name_prefix_of_reference_interfaces("some_not_correct_interface_prefix");
 
   // expect empty return because interface prefix is not equal to the node name
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> exported_reference_interfaces;
+  std::vector<hardware_interface::CommandInterface::SharedPtr> exported_reference_interfaces;
   EXPECT_THROW(
     { exported_reference_interfaces = controller.export_reference_interfaces(); },
     std::runtime_error);
   ASSERT_THAT(exported_reference_interfaces, IsEmpty());
   // expect empty return because interface prefix is not equal to the node name
-  std::vector<std::shared_ptr<hardware_interface::StateInterface>> exported_state_interfaces;
+  std::vector<hardware_interface::StateInterface::SharedPtr> exported_state_interfaces;
   EXPECT_THROW(
     { exported_state_interfaces = controller.export_state_interfaces(); }, std::runtime_error);
   ASSERT_THAT(exported_state_interfaces, IsEmpty());

controller_manager/src/controller_manager.cpp

@@ -771,8 +771,8 @@ controller_interface::return_type ControllerManager::configure_controller(
       get_logger(),
       "Controller '%s' is chainable. Interfaces are being exported to resource manager.",
       controller_name.c_str());
-    std::vector<std::shared_ptr<hardware_interface::StateInterface>> state_interfaces;
-    std::vector<std::shared_ptr<hardware_interface::CommandInterface>> ref_interfaces;
+    std::vector<hardware_interface::StateInterface::SharedPtr> state_interfaces;
+    std::vector<hardware_interface::CommandInterface::SharedPtr> ref_interfaces;
     try
     {
       state_interfaces = controller->export_state_interfaces();

hardware_interface_testing/test/test_resource_manager.cpp

@@ -1230,7 +1230,7 @@ TEST_F(ResourceManagerTest, managing_controllers_reference_interfaces)
     CONTROLLER_NAME + "/" + REFERENCE_INTERFACE_NAMES[1],
     CONTROLLER_NAME + "/" + REFERENCE_INTERFACE_NAMES[2]};
 
-  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> reference_interfaces;
+  std::vector<hardware_interface::CommandInterface::SharedPtr> reference_interfaces;
   std::vector<double> reference_interface_values = {1.0, 2.0, 3.0};
 
   for (size_t i = 0; i < REFERENCE_INTERFACE_NAMES.size(); ++i)