How to use boost::atomic_store with shared_ptr<T> and shared_ptr<const T>?

In my case T is pcl::PointCloud<pcl::PointXYZ>> but the question shoud stand for any type T. The following example produces an error:

using pc = pcl::PointCloud<pcl::PointXYZ> >;
boost::shared_ptr<pc> p(new pc);
boost::shared_ptr<const pc> const_p(new pc);

// This is legal
const_p = p;

// The atomic equivalent is not
boost::atomic_store(&const_p, p);

The problem is that the boost::atomic_store expects both arguments to be T* and T, but these are considered different types despite the fact that it's perfectly safe to assign p to const_p. The following doesn't work either.

boost::atomic_store(&const_p, const_cast<boost::shared_ptr<const pc> > (p));

Despite the above basically casting a pc* to const pc* which is perfectly safe, it produces an error about const_cast not being able to convert to different type. I understand that because pc is a template argument, it is considered part of the type of the shared_ptr and not a cv qualification. The following work

boost::atomic_store(&const_p, boost::shared_ptr<const pc>(p));

However, it creates an extra unecessary boost::shared_ptr. It is my understanding that the same is true for boost::const_pointer_cast<const pc>(p) This can be avoided if p is no longer needed.

boost::atomic_store(&const_p, boost::shared_ptr<const pc>(std::move(p));

This still creates an extra object but it shouldn't matter because the reference count is not modified, which is the expensive part of copying a shared_ptr on account of being atomic.

It just so happens that this occurs in a non-critical part of my code so I'm fine with the above, but I would like to know for future reference: If std::move was not an option, how would one atomically store a boost::shared_ptr<T> to a boost::shared_ptr<const T> without the overhead of creating an unecessary temporary pointer? It should be possible because it is safe to view a T through a const T*, but I can't figure out a way to do it.

Solution

I understand that because pc is a template argument, it is considered part of the type of the shared_ptr and not a cv qualification.

Yes, this is known as "non-deducible context".

The following work
boost::atomic_store(&const_p, boost::shared_ptr<const pc>(p));
However, it creates an extra unecessary boost::shared_ptr. It is my understanding that the same is true for boost::const_pointer_cast<const pc>(p) This can be avoided if p is no longer needed.

Well, surprise, you always get the copy:

template<class T> void atomic_store( shared_ptr<T> * p, shared_ptr<T> r ) BOOST_SP_NOEXCEPT
{
    boost::detail::spinlock_pool<2>::scoped_lock lock( p );
    p->swap( r );
}

Note the second parameter is by value. This, at once, solves the mystery:

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#include <boost/shared_ptr.hpp> 
#include <boost/make_shared.hpp> 
#include <boost/atomic.hpp>

namespace pcl {
    struct PointXYZ {};
    template <typename P> struct PointCloud {
    };
}

int main() {
    using pc = pcl::PointCloud<pcl::PointXYZ>;
    boost::shared_ptr<pc> p             = boost::make_shared<pc>();
    boost::shared_ptr<const pc> const_p = boost::make_shared<pc>();

    // This is legal
    const_p = p;

    // The atomic equivalent is too
    boost::atomic_store<pc const>(&const_p, p);
}

If std::move was not an option, how would one atomically store a boost::shared_ptr to a boost::shared_ptr without the overhead of creating an unecessary temporary pointer?

You can't. Look at it this way: load/store are meant to be trivial operations amenable to atomic lockfree implementations. They do 1 thing, and they do it well¹.

Doing implicit conversions is just not the responsibility of that function.

I'd suggest using a wrapper function, or even using ADL to resolve your own overload from your own namespace.