CRobotPose::Ptr CGlWidget::removePoseFromPointsCloud( CSetOfObjects::Ptr points, int index) const { auto it = points->begin() + index; ASSERT_(it != points->end()); CRobotPose::Ptr robotPose = std::dynamic_pointer_cast<CRobotPose>(*it); ASSERT_(robotPose); points->removeObject(*it); return robotPose; }