[ABSL] Purge common::make_unique. (#1340)

cartographer-project · Jul 27, 2018 · 5b44305 · 5b44305
1 parent 4990d4d
commit 5b44305
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Showing 128 changed files with 480 additions and 486 deletions.
diff --git a/cartographer/BUILD.bazel b/cartographer/BUILD.bazel
@@ -112,6 +112,7 @@ cc_library(
         ":cartographer",
         ":cartographer_test_library",
         "@com_google_googletest//:gtest_main",
+        "@com_google_absl//absl/memory",
     ],
 ) for src in glob(
     ["**/*_test.cc"],

diff --git a/cartographer/cloud/client/map_builder_stub.cc b/cartographer/cloud/client/map_builder_stub.cc
@@ -34,7 +34,7 @@ namespace cartographer {
 namespace cloud {
 namespace {
 
-using common::make_unique;
+using absl::make_unique;
 constexpr int kConnectionTimeoutInSeconds = 10;
 
 }  // namespace

diff --git a/cartographer/cloud/internal/client/trajectory_builder_stub.cc b/cartographer/cloud/internal/client/trajectory_builder_stub.cc
@@ -39,7 +39,7 @@ TrajectoryBuilderStub::TrajectoryBuilderStub(
     receive_local_slam_results_client_.Write(request);
     auto* receive_local_slam_results_client_ptr =
         &receive_local_slam_results_client_;
-    receive_local_slam_results_thread_ = common::make_unique<std::thread>(
+    receive_local_slam_results_thread_ = absl::make_unique<std::thread>(
         [receive_local_slam_results_client_ptr, local_slam_result_callback]() {
           RunLocalSlamResultsReader(receive_local_slam_results_client_ptr,
                                     local_slam_result_callback);
@@ -77,7 +77,7 @@ void TrajectoryBuilderStub::AddSensorData(
     const std::string& sensor_id,
     const sensor::TimedPointCloudData& timed_point_cloud_data) {
   if (!add_rangefinder_client_) {
-    add_rangefinder_client_ = common::make_unique<
+    add_rangefinder_client_ = absl::make_unique<
         async_grpc::Client<handlers::AddRangefinderDataSignature>>(
         client_channel_);
   }
@@ -92,7 +92,7 @@ void TrajectoryBuilderStub::AddSensorData(const std::string& sensor_id,
                                           const sensor::ImuData& imu_data) {
   if (!add_imu_client_) {
     add_imu_client_ =
-        common::make_unique<async_grpc::Client<handlers::AddImuDataSignature>>(
+        absl::make_unique<async_grpc::Client<handlers::AddImuDataSignature>>(
             client_channel_);
   }
   proto::AddImuDataRequest request;
@@ -104,7 +104,7 @@ void TrajectoryBuilderStub::AddSensorData(const std::string& sensor_id,
 void TrajectoryBuilderStub::AddSensorData(
     const std::string& sensor_id, const sensor::OdometryData& odometry_data) {
   if (!add_odometry_client_) {
-    add_odometry_client_ = common::make_unique<
+    add_odometry_client_ = absl::make_unique<
         async_grpc::Client<handlers::AddOdometryDataSignature>>(
         client_channel_);
   }
@@ -118,7 +118,7 @@ void TrajectoryBuilderStub::AddSensorData(
     const std::string& sensor_id,
     const sensor::FixedFramePoseData& fixed_frame_pose) {
   if (!add_fixed_frame_pose_client_) {
-    add_fixed_frame_pose_client_ = common::make_unique<
+    add_fixed_frame_pose_client_ = absl::make_unique<
         async_grpc::Client<handlers::AddFixedFramePoseDataSignature>>(
         client_channel_);
   }
@@ -132,7 +132,7 @@ void TrajectoryBuilderStub::AddSensorData(
 void TrajectoryBuilderStub::AddSensorData(
     const std::string& sensor_id, const sensor::LandmarkData& landmark_data) {
   if (!add_landmark_client_) {
-    add_landmark_client_ = common::make_unique<
+    add_landmark_client_ = absl::make_unique<
         async_grpc::Client<handlers::AddLandmarkDataSignature>>(
         client_channel_);
   }
@@ -158,7 +158,7 @@ void TrajectoryBuilderStub::RunLocalSlamResultsReader(
     sensor::RangeData range_data = sensor::FromProto(response.range_data());
     auto insertion_result =
         response.has_insertion_result()
-            ? common::make_unique<InsertionResult>(
+            ? absl::make_unique<InsertionResult>(
                   InsertionResult{mapping::NodeId{
                       response.insertion_result().node_id().trajectory_id(),
                       response.insertion_result().node_id().node_index()}})

diff --git a/cartographer/cloud/internal/client_server_test.cc b/cartographer/cloud/internal/client_server_test.cc
@@ -138,42 +138,42 @@ class ClientServerTest : public ::testing::Test {
   }
 
   void InitializeRealServer() {
-    auto map_builder = common::make_unique<MapBuilder>(
+    auto map_builder = absl::make_unique<MapBuilder>(
         map_builder_server_options_.map_builder_options());
-    server_ = common::make_unique<MapBuilderServer>(map_builder_server_options_,
-                                                    std::move(map_builder));
+    server_ = absl::make_unique<MapBuilderServer>(map_builder_server_options_,
+                                                  std::move(map_builder));
     EXPECT_TRUE(server_ != nullptr);
   }
 
   void InitializeRealUploadingServer() {
-    auto map_builder = common::make_unique<MapBuilder>(
+    auto map_builder = absl::make_unique<MapBuilder>(
         uploading_map_builder_server_options_.map_builder_options());
-    uploading_server_ = common::make_unique<MapBuilderServer>(
+    uploading_server_ = absl::make_unique<MapBuilderServer>(
         uploading_map_builder_server_options_, std::move(map_builder));
     EXPECT_TRUE(uploading_server_ != nullptr);
   }
 
   void InitializeServerWithMockMapBuilder() {
-    auto mock_map_builder = common::make_unique<MockMapBuilder>();
+    auto mock_map_builder = absl::make_unique<MockMapBuilder>();
     mock_map_builder_ = mock_map_builder.get();
-    mock_pose_graph_ = common::make_unique<MockPoseGraph>();
+    mock_pose_graph_ = absl::make_unique<MockPoseGraph>();
     EXPECT_CALL(*mock_map_builder_, pose_graph())
         .WillOnce(::testing::Return(mock_pose_graph_.get()));
     EXPECT_CALL(*mock_pose_graph_, SetGlobalSlamOptimizationCallback(_));
-    server_ = common::make_unique<MapBuilderServer>(
-        map_builder_server_options_, std::move(mock_map_builder));
+    server_ = absl::make_unique<MapBuilderServer>(map_builder_server_options_,
+                                                  std::move(mock_map_builder));
     EXPECT_TRUE(server_ != nullptr);
-    mock_trajectory_builder_ = common::make_unique<MockTrajectoryBuilder>();
+    mock_trajectory_builder_ = absl::make_unique<MockTrajectoryBuilder>();
   }
 
   void InitializeStub() {
-    stub_ = common::make_unique<MapBuilderStub>(
+    stub_ = absl::make_unique<MapBuilderStub>(
         map_builder_server_options_.server_address(), kClientId);
     EXPECT_TRUE(stub_ != nullptr);
   }
 
   void InitializeStubForUploadingServer() {
-    stub_for_uploading_server_ = common::make_unique<MapBuilderStub>(
+    stub_for_uploading_server_ = absl::make_unique<MapBuilderStub>(
         uploading_map_builder_server_options_.server_address(), kClientId);
     EXPECT_TRUE(stub_for_uploading_server_ != nullptr);
   }

diff --git a/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.cc b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.cc
@@ -16,11 +16,11 @@
 
 #include "cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/fixed_frame_pose_data.h"
 #include "cartographer/sensor/internal/dispatchable.h"
 #include "google/protobuf/empty.pb.h"
@@ -45,7 +45,7 @@ void AddFixedFramePoseDataHandler::OnSensorData(
   // 'MapBuilderContext'.
   if (GetUnsynchronizedContext<MapBuilderContextInterface>()
           ->local_trajectory_uploader()) {
-    auto sensor_data = common::make_unique<proto::SensorData>();
+    auto sensor_data = absl::make_unique<proto::SensorData>();
     *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
     *sensor_data->mutable_fixed_frame_pose_data() =
         request.fixed_frame_pose_data();

diff --git a/cartographer/cloud/internal/handlers/add_imu_data_handler.cc b/cartographer/cloud/internal/handlers/add_imu_data_handler.cc
@@ -16,11 +16,11 @@
 
 #include "cartographer/cloud/internal/handlers/add_imu_data_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/internal/dispatchable.h"
 #include "google/protobuf/empty.pb.h"
@@ -43,7 +43,7 @@ void AddImuDataHandler::OnSensorData(const proto::AddImuDataRequest& request) {
   // 'MapBuilderContext'.
   if (GetUnsynchronizedContext<MapBuilderContextInterface>()
           ->local_trajectory_uploader()) {
-    auto sensor_data = common::make_unique<proto::SensorData>();
+    auto sensor_data = absl::make_unique<proto::SensorData>();
     *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
     *sensor_data->mutable_imu_data() = request.imu_data();
     GetUnsynchronizedContext<MapBuilderContextInterface>()

diff --git a/cartographer/cloud/internal/handlers/add_landmark_data_handler.cc b/cartographer/cloud/internal/handlers/add_landmark_data_handler.cc
@@ -16,11 +16,11 @@
 
 #include "cartographer/cloud/internal/handlers/add_landmark_data_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/landmark_data.h"
 #include "google/protobuf/empty.pb.h"
@@ -44,7 +44,7 @@ void AddLandmarkDataHandler::OnSensorData(
   // 'MapBuilderContext'.
   if (GetUnsynchronizedContext<MapBuilderContextInterface>()
           ->local_trajectory_uploader()) {
-    auto sensor_data = common::make_unique<proto::SensorData>();
+    auto sensor_data = absl::make_unique<proto::SensorData>();
     *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
     *sensor_data->mutable_landmark_data() = request.landmark_data();
     GetUnsynchronizedContext<MapBuilderContextInterface>()

diff --git a/cartographer/cloud/internal/handlers/add_odometry_data_handler.cc b/cartographer/cloud/internal/handlers/add_odometry_data_handler.cc
@@ -16,11 +16,11 @@
 
 #include "cartographer/cloud/internal/handlers/add_odometry_data_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "google/protobuf/empty.pb.h"
@@ -44,7 +44,7 @@ void AddOdometryDataHandler::OnSensorData(
   // 'MapBuilderContext'.
   if (GetUnsynchronizedContext<MapBuilderContextInterface>()
           ->local_trajectory_uploader()) {
-    auto sensor_data = common::make_unique<proto::SensorData>();
+    auto sensor_data = absl::make_unique<proto::SensorData>();
     *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
     *sensor_data->mutable_odometry_data() = request.odometry_data();
     GetUnsynchronizedContext<MapBuilderContextInterface>()

diff --git a/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.cc b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/timed_point_cloud_data.h"
 #include "google/protobuf/empty.pb.h"

diff --git a/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.cc b/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/timed_point_cloud_data.h"
@@ -93,7 +93,7 @@ void AddSensorDataBatchHandler::OnRequest(
                    << sensor_data.sensor_data_case();
     }
   }
-  Send(common::make_unique<google::protobuf::Empty>());
+  Send(absl::make_unique<google::protobuf::Empty>());
 }
 
 }  // namespace handlers

diff --git a/cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h b/cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h
@@ -50,7 +50,7 @@ class AddSensorDataHandlerBase
   virtual void OnSensorData(const SensorDataType& request) = 0;
 
   void OnReadsDone() override {
-    this->template Send(common::make_unique<google::protobuf::Empty>());
+    this->template Send(absl::make_unique<google::protobuf::Empty>());
   }
 };
 

diff --git a/cartographer/cloud/internal/handlers/add_trajectory_handler.cc b/cartographer/cloud/internal/handlers/add_trajectory_handler.cc
@@ -16,11 +16,11 @@
 
 #include "cartographer/cloud/internal/handlers/add_trajectory_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 
 namespace cartographer {
 namespace cloud {
@@ -71,7 +71,7 @@ void AddTrajectoryHandler::OnRequest(
     }
   }
 
-  auto response = common::make_unique<proto::AddTrajectoryResponse>();
+  auto response = absl::make_unique<proto::AddTrajectoryResponse>();
   response->set_trajectory_id(trajectory_id);
   Send(std::move(response));
 }

diff --git a/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc b/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc
@@ -74,7 +74,7 @@ class AddTrajectoryHandlerTest
  public:
   void SetUp() override {
     testing::HandlerTest<AddTrajectorySignature, AddTrajectoryHandler>::SetUp();
-    mock_map_builder_ = common::make_unique<mapping::testing::MockMapBuilder>();
+    mock_map_builder_ = absl::make_unique<mapping::testing::MockMapBuilder>();
     EXPECT_CALL(*mock_map_builder_context_,
                 GetLocalSlamResultCallbackForSubscriptions())
         .WillOnce(Return(nullptr));

diff --git a/cartographer/cloud/internal/handlers/delete_trajectory_handler.cc b/cartographer/cloud/internal/handlers/delete_trajectory_handler.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/cloud/internal/handlers/delete_trajectory_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {
@@ -40,7 +40,7 @@ void DeleteTrajectoryHandler::OnRequest(
       .pose_graph()
       ->DeleteTrajectory(request.trajectory_id());
   // TODO(gaschler): Think if LocalSlamUploader needs to be notified.
-  Send(common::make_unique<google::protobuf::Empty>());
+  Send(absl::make_unique<google::protobuf::Empty>());
 }
 
 }  // namespace handlers

diff --git a/cartographer/cloud/internal/handlers/finish_trajectory_handler.cc b/cartographer/cloud/internal/handlers/finish_trajectory_handler.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {
@@ -45,7 +45,7 @@ void FinishTrajectoryHandler::OnRequest(
         ->local_trajectory_uploader()
         ->FinishTrajectory(request.client_id(), request.trajectory_id());
   }
-  Send(common::make_unique<google::protobuf::Empty>());
+  Send(absl::make_unique<google::protobuf::Empty>());
 }
 
 }  // namespace handlers

diff --git a/cartographer/cloud/internal/handlers/get_all_submap_poses.cc b/cartographer/cloud/internal/handlers/get_all_submap_poses.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/cloud/internal/handlers/get_all_submap_poses.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/transform/transform.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -33,7 +33,7 @@ void GetAllSubmapPosesHandler::OnRequest(
                           ->map_builder()
                           .pose_graph()
                           ->GetAllSubmapPoses();
-  auto response = common::make_unique<proto::GetAllSubmapPosesResponse>();
+  auto response = absl::make_unique<proto::GetAllSubmapPosesResponse>();
   for (const auto& submap_id_pose : submap_poses) {
     auto* submap_pose = response->add_submap_poses();
     submap_id_pose.id.ToProto(submap_pose->mutable_submap_id());

diff --git a/cartographer/cloud/internal/handlers/get_constraints_handler.cc b/cartographer/cloud/internal/handlers/get_constraints_handler.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/cloud/internal/handlers/get_constraints_handler.h"
 
+#include "absl/memory/memory.h"
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/pose_graph.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -32,7 +32,7 @@ void GetConstraintsHandler::OnRequest(const google::protobuf::Empty& request) {
                          ->map_builder()
                          .pose_graph()
                          ->constraints();
-  auto response = common::make_unique<proto::GetConstraintsResponse>();
+  auto response = absl::make_unique<proto::GetConstraintsResponse>();
   response->mutable_constraints()->Reserve(constraints.size());
   for (const auto& constraint : constraints) {
     *response->add_constraints() = mapping::ToProto(constraint);