Remove use of new operator

Author: Levi Armstrong

tesseract/tesseract_environment/src/kdl/kdl_state_solver.cpp

@@ -106,7 +106,7 @@ void KDLStateSolver::setState(const std::vector<std::string>& joint_names,
 
 EnvState::Ptr KDLStateSolver::getState(const std::unordered_map<std::string, double>& joints) const
 {
-  EnvState::Ptr state(new EnvState(*current_state_));
+  EnvState::Ptr state{ std::make_shared<EnvState>(*current_state_) };
   KDL::JntArray jnt_array = kdl_jnt_array_;
 
   for (auto& joint : joints)
@@ -125,7 +125,7 @@ EnvState::Ptr KDLStateSolver::getState(const std::unordered_map<std::string, dou
 EnvState::Ptr KDLStateSolver::getState(const std::vector<std::string>& joint_names,
                                        const std::vector<double>& joint_values) const
 {
-  EnvState::Ptr state(new EnvState(*current_state_));
+  EnvState::Ptr state{ std::make_shared<EnvState>(*current_state_) };
   KDL::JntArray jnt_array = kdl_jnt_array_;
 
   for (auto i = 0u; i < joint_names.size(); ++i)
@@ -144,7 +144,7 @@ EnvState::Ptr KDLStateSolver::getState(const std::vector<std::string>& joint_nam
 EnvState::Ptr KDLStateSolver::getState(const std::vector<std::string>& joint_names,
                                        const Eigen::Ref<const Eigen::VectorXd>& joint_values) const
 {
-  EnvState::Ptr state(new EnvState(*current_state_));
+  EnvState::Ptr state{ std::make_shared<EnvState>(*current_state_) };
   KDL::JntArray jnt_array = kdl_jnt_array_;
 
   for (auto i = 0u; i < joint_names.size(); ++i)

tesseract/tesseract_kinematics/include/tesseract_kinematics/core/utils.h

@@ -234,7 +234,7 @@ createKinematicsMap(const tesseract_scene_graph::SceneGraph::ConstPtr& scene_gra
     {
       if (manipulators.find(group.first) == manipulators.end())
       {
-        std::shared_ptr<Chain_T> manip(new Chain_T());
+        std::shared_ptr<Chain_T> manip{ std::make_shared<Chain_T>() };
         if (!manip->init(scene_graph, group.second, group.first))
         {
           CONSOLE_BRIDGE_logError("Failed to create kinematic chaing for manipulator %s!", group.first);
@@ -253,7 +253,7 @@ createKinematicsMap(const tesseract_scene_graph::SceneGraph::ConstPtr& scene_gra
     {
       if (manipulators.find(group.first) == manipulators.end())
       {
-        std::shared_ptr<Tree_T> manip(new Tree_T());
+        std::shared_ptr<Tree_T> manip{ std::make_shared<Tree_T>() };
         if (!manip->init(scene_graph, group.second, group.first))
         {
           CONSOLE_BRIDGE_logError("Failed to create kinematic chaing for manipulator %s!", group.first);