std::shared_ptr<Server>

`std::shared_ptr`是C++11中引入的智能指针，用于管理动态分配的对象的生命周期。它允许多个`std::shared_ptr`共享同一个对象，并在最后一个`std::shared_ptr`不再引用该对象时自动释放内存。

要创建一个`std::shared_ptr`指向`Server`对象，可以使用`std::make_shared`函数。下面是一个示例代码：

#include <memory>

class Server {
    // Server类的定义
};

int main() {
    std::shared_ptr<Server> serverPtr = std::make_shared<Server>();
    // 使用serverPtr指向的Server对象
    // ...
    
    // 当serverPtr不再被使用时，Server对象会自动被释放
    return 0;
}

在上面的示例中，`std::make_shared<Server>()`会创建一个`Server`对象，并返回一个指向该对象的`std::shared_ptr`。然后，我们可以将这个`std::shared_ptr`赋值给`serverPtr`，从而管理`Server`对象的生命周期。

相关问题

std::shared_ptr<LocalEndpoint<Protocol>> its_server(m_pServer.lock());

这是一行 C++ 代码，使用了 `std::shared_ptr` 类型的智能指针。这个智能指针指向了一个 `LocalEndpoint` 类型的对象，该对象使用了一个模板参数 `Protocol`。在这个代码中，`m_pServer` 是一个 `std::weak_ptr` 类型的弱指针，使用了 `lock()` 函数来获取一个 `std::shared_ptr` 类型的智能指针，以确保其所指向的对象存在。最终，这个智能指针被赋值给了 `its_server` 变量。

给下列程序添加注释：void DWAPlannerROS::initialize( std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) { if (! isInitialized()) { ros::NodeHandle private_nh("~/" + name); g_plan_pub_ = private_nh.advertise<nav_msgs::Path>("global_plan", 1); l_plan_pub_ = private_nh.advertise<nav_msgs::Path>("local_plan", 1); tf_ = tf; costmap_ros_ = costmap_ros; costmap_ros_->getRobotPose(current_pose_); // make sure to update the costmap we'll use for this cycle costmap_2d::Costmap2D* costmap = costmap_ros_->getCostmap(); planner_util_.initialize(tf, costmap, costmap_ros_->getGlobalFrameID()); //create the actual planner that we'll use.. it'll configure itself from the parameter server dp_ = boost::shared_ptr<DWAPlanner>(new DWAPlanner(name, &planner_util_)); if( private_nh.getParam( "odom_topic", odom_topic_ )) { odom_helper_.setOdomTopic( odom_topic_ ); } initialized_ = true; // Warn about deprecated parameters -- remove this block in N-turtle nav_core::warnRenamedParameter(private_nh, "max_vel_trans", "max_trans_vel"); nav_core::warnRenamedParameter(private_nh, "min_vel_trans", "min_trans_vel"); nav_core::warnRenamedParameter(private_nh, "max_vel_theta", "max_rot_vel"); nav_core::warnRenamedParameter(private_nh, "min_vel_theta", "min_rot_vel"); nav_core::warnRenamedParameter(private_nh, "acc_lim_trans", "acc_limit_trans"); nav_core::warnRenamedParameter(private_nh, "theta_stopped_vel", "rot_stopped_vel"); dsrv_ = new dynamic_reconfigure::Server<DWAPlannerConfig>(private_nh); dynamic_reconfigure::Server<DWAPlannerConfig>::CallbackType cb = boost::bind(&DWAPlannerROS::reconfigureCB, this, _1, 2); dsrv->setCallback(cb); } else{ ROS_WARN("This planner has already been initialized, doing nothing."); } }

/**
* @brief 初始化DWAPlannerROS的函数
*
* @param name: 节点名字
* @param tf: tf2_ros::Buffer类型指针，用于获取tf信息
* @param costmap_ros: costmap_2d::Costmap2DROS类型指针，用于获取costmap信息
*/
void DWAPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) {
// 判断是否已经初始化
if (!isInitialized()) {
// 创建私有命名空间
ros::NodeHandle private_nh("~/" + name);

// 创建两个Publisher，用于发布全局规划和局部规划
g_plan_pub_ = private_nh.advertise<nav_msgs::Path>("global_plan", 1);
l_plan_pub_ = private_nh.advertise<nav_msgs::Path>("local_plan", 1);

// 获取tf信息和costmap信息
tf_ = tf;
costmap_ros_ = costmap_ros;
costmap_ros_->getRobotPose(current_pose_);

// 更新costmap
costmap_2d::Costmap2D* costmap = costmap_ros_->getCostmap();

// 初始化planner_util_
planner_util_.initialize(tf, costmap, costmap_ros_->getGlobalFrameID());

// 创建DWAPlanner对象，从参数服务器上获取参数
dp_ = boost::shared_ptr<DWAPlanner>(new DWAPlanner(name, &planner_util_));
if (private_nh.getParam("odom_topic", odom_topic_)) {
odom_helper_.setOdomTopic(odom_topic_);
}

// 设置initialized_为true
initialized_ = true;

// 警告已经被弃用的参数
nav_core::warnRenamedParameter(private_nh, "max_vel_trans", "max_trans_vel");
nav_core::warnRenamedParameter(private_nh, "min_vel_trans", "min_trans_vel");
nav_core::warnRenamedParameter(private_nh, "max_vel_theta", "max_rot_vel");
nav_core::warnRenamedParameter(private_nh, "min_vel_theta", "min_rot_vel");
nav_core::warnRenamedParameter(private_nh, "acc_lim_trans", "acc_limit_trans");
nav_core::warnRenamedParameter(private_nh, "theta_stopped_vel", "rot_stopped_vel");

// 创建dynamic_reconfigure::Server对象，用于动态参数配置
dsrv_ = new dynamic_reconfigure::Server<DWAPlannerConfig>(private_nh);
dynamic_reconfigure::Server<DWAPlannerConfig>::CallbackType cb = boost::bind(&DWAPlannerROS::reconfigureCB, this, _1, 2);
dsrv_->setCallback(cb);
} else {
// 如果已经初始化，输出警告信息
ROS_WARN("This planner has already been initialized, doing nothing.");
}
}