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Memory leaks

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This commit is contained in:
Oleg Klimov
2017-04-15 21:42:25 +03:00
parent 5a40b5aaae
commit b8afb4d7aa
3 changed files with 51 additions and 44 deletions
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54
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -13,48 +13,10 @@ m_activeSdfModel(-1)
UrdfParser::~UrdfParser()
{
cleanModel(&m_urdf2Model);
for (int i=0;i<m_tmpModels.size();i++)
{
cleanModel(m_tmpModels[i]);
for (int i=0;i<m_tmpModels.size();i++)
{
delete m_tmpModels[i];
}
m_sdfModels.clear();
m_tmpModels.clear();
}
void UrdfParser::cleanModel(UrdfModel* model)
{
for (int i=0;i<model->m_materials.size();i++)
{
UrdfMaterial** matPtr = model->m_materials.getAtIndex(i);
if (matPtr)
{
UrdfMaterial* mat = *matPtr;
delete mat;
}
}
for (int i=0;i<model->m_links.size();i++)
{
UrdfLink** linkPtr = model->m_links.getAtIndex(i);
if (linkPtr)
{
UrdfLink* link = *linkPtr;
delete link;
}
}
for (int i=0;i<model->m_joints.size();i++)
{
UrdfJoint** jointPtr = model->m_joints.getAtIndex(i);
if (jointPtr)
{
UrdfJoint* joint = *jointPtr;
delete joint;
}
}
}
}
static bool parseVector4(btVector4& vec4, const std::string& vector_str)
@@ -1471,6 +1433,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
UrdfMaterial** mat =m_urdf2Model.m_materials.find(material->m_name.c_str());
if (mat)
{
delete material;
logger->reportWarning("Duplicate material");
} else
{
@@ -1494,6 +1457,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
{
logger->reportError("Link name is not unique, link names in the same model have to be unique");
logger->reportError(link->m_name.c_str());
delete link;
return false;
} else
{
@@ -1542,6 +1506,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
{
logger->reportError("joint '%s' is not unique.");
logger->reportError(joint->m_name.c_str());
delete joint;
return false;
}
else
@@ -1552,6 +1517,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
else
{
logger->reportError("joint xml is not initialized correctly");
delete joint;
return false;
}
}
@@ -1666,7 +1632,8 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
UrdfMaterial** mat =localModel->m_materials.find(material->m_name.c_str());
if (mat)
{
logger->reportWarning("Duplicate material");
logger->reportWarning("Duplicate material");
delete material;
} else
{
localModel->m_materials.insert(material->m_name.c_str(),material);
@@ -1689,6 +1656,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
{
logger->reportError("Link name is not unique, link names in the same model have to be unique");
logger->reportError(link->m_name.c_str());
delete link;
return false;
} else
{
@@ -1737,6 +1705,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
{
logger->reportError("joint '%s' is not unique.");
logger->reportError(joint->m_name.c_str());
delete joint;
return false;
}
else
@@ -1747,6 +1716,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
else
{
logger->reportError("joint xml is not initialized correctly");
delete joint;
return false;
}
}