use shared pointer

test/sensor_simulator/sensor.h

@@ -40,6 +40,7 @@
 
 #include "EKF/ekf.h"
 #include <math.h>
+#include <memory>
 
 namespace sensor_simulator
 {
@@ -48,14 +49,14 @@ class Sensor
 {
 public:
 
-	Sensor(Ekf* ekf);
+	Sensor(std::shared_ptr<Ekf> ekf);
 	virtual ~Sensor();
 
 	void update(uint32_t time);
 
 	void setRate(uint32_t rate){ _update_period = uint32_t(1000000)/rate; }
 
-	bool isRunning(){ return _is_running; }
+	bool isRunning() const { return _is_running; }
 
 	void start(){ _is_running = true; }
 
@@ -63,17 +64,17 @@ public:
 
 protected:
 
-	Ekf* _ekf;
+	std::shared_ptr<Ekf> _ekf;
 	// time in microseconds
 	uint32_t _update_period;
 	uint32_t _time_last_data_sent{0};
 
 	bool _is_running{false};
 
-	bool should_send(uint32_t time);
+	bool should_send(uint32_t time) const;
 
 	// Checks that the right amount time passed since last send data to fulfill rate
-	bool is_time_to_send(uint32_t time);
+	bool is_time_to_send(uint32_t time) const;
 
 	// call set*Data function of Ekf
 	virtual void send(uint32_t time) = 0;