Add std::make_unique<T>(...) that was omitted from C++11

This function can be replace by the standard std::make_unique<T>(...) when we migrate to using C++14.
dartsim · Mar 20, 2016 · c5541ee · c5541ee
1 parent 786d79c
commit c5541ee
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Showing 17 changed files with 55 additions and 48 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -368,9 +368,9 @@ endif()
 
 # BulletCollision
 if(UNIX)
-  pkg_check_modules(BULLET bullet>=2.82 QUIET)
+  pkg_check_modules(BULLET bullet>=2.81 QUIET)
   if(NOT BULLET_FOUND)
-     pkg_check_modules(BULLET bullet2.82>=2.82 QUIET)
+     pkg_check_modules(BULLET bullet2.81>=2.81 QUIET)
   endif()
 else()
   find_package(Bullet COMPONENTS BulletMath BulletCollision QUIET)

diff --git a/apps/rigidShapes/Main.cpp b/apps/rigidShapes/Main.cpp
@@ -55,8 +55,7 @@ int main(int argc, char* argv[])
   assert(myWorld != NULL);
 #ifndef FCL_DART5
   myWorld->getConstraintSolver()->setCollisionDetector(
-        std::unique_ptr<dart::collision::CollisionDetector>(
-          new dart::collision::FCLMeshCollisionDetector()));
+        std::make_unique<dart::collision::FCLMeshCollisionDetector>());
 #endif
   // create a window and link it to the world
   MyWindow window;

diff --git a/dart/common/StlHelpers.h b/dart/common/StlHelpers.h
@@ -41,9 +41,26 @@
 #include <cstddef>
 #include <vector>
 
+namespace std {
+
+//==============================================================================
+template<typename T, typename... Args>
+unique_ptr<T> make_unique(Args&&... args)
+{
+  return unique_ptr<T>(new T(forward<Args>(args)...));
+}
+// TODO(JS): This is a stopgap solution as it was omitted from C++11 as "partly
+// an oversight". This can be replaced by std::make_unique<T> of the standard
+// library when we migrate to using C++14.
+
+} // namespace std
+
+
+
 namespace dart {
 namespace common {
 
+//==============================================================================
 template <typename T>
 static T getVectorObjectIfAvailable(size_t index, const std::vector<T>& vec)
 {

diff --git a/dart/common/detail/AddonWithVersion.h b/dart/common/detail/AddonWithVersion.h
@@ -38,6 +38,7 @@
 #define DART_COMMON_DETAIL_ADDONWITHVERSION_H_
 
 #include "dart/common/Addon.h"
+#include "dart/common/StlHelpers.h"
 
 namespace dart {
 namespace common {
@@ -236,7 +237,7 @@ std::unique_ptr<Addon>
 AddonWithState<BaseT, DerivedT, StateData, ManagerT, updateState>::
     cloneAddon(AddonManager* newManager) const
 {
-  return std::unique_ptr<Derived>(new Derived(newManager, mState));
+  return std::make_unique<Derived>(newManager, mState);
 }
 
 //==============================================================================
@@ -315,7 +316,7 @@ AddonWithVersionedProperties<BaseT, DerivedT, PropertiesData,
                              ManagerT, updateProperties>::
 cloneAddon(AddonManager* newManager) const
 {
-  return std::unique_ptr<Derived>(new Derived(newManager, mProperties));
+  return std::make_unique<Derived>(newManager, mProperties);
 }
 
 //==============================================================================

diff --git a/dart/common/detail/Extensible.h b/dart/common/detail/Extensible.h
@@ -38,6 +38,7 @@
 #define DART_COMMON_DETAIL_EXTENSIBLE_H_
 
 #include "dart/common/Extensible.h"
+#include "dart/common/StlHelpers.h"
 
 namespace dart {
 namespace common {
@@ -129,7 +130,7 @@ ExtensibleMixer<T, Mixin>& ExtensibleMixer<T, Mixin>::operator=(
 template <class T, class Mixin>
 std::unique_ptr<T> ExtensibleMixer<T, Mixin>::clone() const
 {
-  return std::unique_ptr<T>(new ExtensibleMixer<T, Mixin>(*this));
+  return std::make_unique<ExtensibleMixer<T, Mixin>>(*this);
 }
 
 //==============================================================================
@@ -289,8 +290,7 @@ std::unique_ptr< ExtensibleVector<T> > ExtensibleVector<T>::clone() const
   for(const T& entry : mVector)
     clonedVector.push_back(entry->clone());
 
-  return std::unique_ptr< ExtensibleVector<T> >(
-        new ExtensibleVector<T>(std::move(clonedVector)) );
+  return std::make_unique< ExtensibleVector<T> >( std::move(clonedVector) );
 }
 
 //==============================================================================

diff --git a/dart/dynamics/BodyNode.cpp b/dart/dynamics/BodyNode.cpp
@@ -286,8 +286,8 @@ BodyNode::NodeProperties BodyNode::getAttachedNodeProperties() const
         vec.push_back(std::move(prop));
     }
 
-    nodeProperties[entry.first] = std::unique_ptr<NodePropertiesVector>(
-          new NodePropertiesVector(std::move(vec)));
+    nodeProperties[entry.first] = std::make_unique<NodePropertiesVector>(
+        std::move(vec));
   }
 
   return nodeProperties;

diff --git a/dart/dynamics/EndEffector.cpp b/dart/dynamics/EndEffector.cpp
@@ -187,8 +187,7 @@ void EndEffector::setNodeState(const Node::State& otherState)
 //==============================================================================
 std::unique_ptr<Node::State> EndEffector::getNodeState() const
 {
-  return std::unique_ptr<EndEffector::State>(
-        new EndEffector::State(getEndEffectorState()));
+  return std::make_unique<EndEffector::State>(getEndEffectorState());
 }
 
 //==============================================================================
@@ -217,8 +216,7 @@ void EndEffector::setNodeProperties(const Node::Properties& otherProperties)
 //==============================================================================
 std::unique_ptr<Node::Properties> EndEffector::getNodeProperties() const
 {
-  return std::unique_ptr<EndEffector::Properties>(
-        new EndEffector::Properties(getEndEffectorProperties()));
+  return std::make_unique<EndEffector::Properties>(getEndEffectorProperties());
 }
 
 //==============================================================================

diff --git a/dart/dynamics/InverseKinematics.cpp b/dart/dynamics/InverseKinematics.cpp
@@ -432,8 +432,8 @@ InverseKinematics::TaskSpaceRegion::TaskSpaceRegion(
 std::unique_ptr<InverseKinematics::ErrorMethod>
 InverseKinematics::TaskSpaceRegion::clone(InverseKinematics* _newIK) const
 {
-  return std::unique_ptr<ErrorMethod>(
-        new TaskSpaceRegion(_newIK, getTaskSpaceRegionProperties()));
+  return std::make_unique<TaskSpaceRegion>(
+      _newIK, getTaskSpaceRegionProperties());
 }
 
 //==============================================================================
@@ -743,8 +743,7 @@ InverseKinematics::JacobianDLS::JacobianDLS(
 std::unique_ptr<InverseKinematics::GradientMethod>
 InverseKinematics::JacobianDLS::clone(InverseKinematics* _newIK) const
 {
-  return std::unique_ptr<GradientMethod>(
-        new JacobianDLS(_newIK, getJacobianDLSProperties()));
+  return std::make_unique<JacobianDLS>(_newIK, getJacobianDLSProperties());
 }
 
 //==============================================================================
@@ -802,8 +801,8 @@ InverseKinematics::JacobianTranspose::JacobianTranspose(
 std::unique_ptr<InverseKinematics::GradientMethod>
 InverseKinematics::JacobianTranspose::clone(InverseKinematics* _newIK) const
 {
-  return std::unique_ptr<GradientMethod>(
-        new JacobianTranspose(_newIK, getGradientMethodProperties()));
+  return std::make_unique<JacobianTranspose>(
+      _newIK, getGradientMethodProperties());
 }
 
 //==============================================================================

diff --git a/dart/optimizer/nlopt/NloptSolver.cpp b/dart/optimizer/nlopt/NloptSolver.cpp
@@ -41,6 +41,7 @@
 #include <Eigen/Dense>
 
 #include "dart/common/Console.h"
+#include "dart/common/StlHelpers.h"
 #include "dart/optimizer/Problem.h"
 #include "dart/optimizer/Function.h"
 
@@ -100,7 +101,7 @@ bool NloptSolver::solve()
      || mOpt->get_dimension() != dimension
      || mOpt->get_algorithm() != mAlg)
   {
-    mOpt = std::unique_ptr<nlopt::opt>(new nlopt::opt(mAlg, dimension));
+    mOpt = std::make_unique<nlopt::opt>(mAlg, dimension);
   }
   else
   {

diff --git a/osgDart/InteractiveFrame.cpp b/osgDart/InteractiveFrame.cpp
@@ -111,9 +111,7 @@ const InteractiveFrame* InteractiveTool::getInteractiveFrame() const
 //==============================================================================
 dart::dynamics::SimpleFrame* InteractiveTool::addShapeFrame(const dart::dynamics::ShapePtr& shape)
 {
-  mSimpleFrames.push_back(
-        std::unique_ptr<dart::dynamics::SimpleFrame>(
-          new dart::dynamics::SimpleFrame(this)));
+  mSimpleFrames.push_back(std::make_unique<dart::dynamics::SimpleFrame>(this));
 
   auto shapeFrame = mSimpleFrames.back().get();
   shapeFrame->setShape(shape);
@@ -226,9 +224,7 @@ const InteractiveTool* InteractiveFrame::getTool(
 dart::dynamics::SimpleFrame* InteractiveFrame::addShapeFrame(
     const dart::dynamics::ShapePtr& shape)
 {
-  mSimpleFrames.push_back(
-        std::unique_ptr<dart::dynamics::SimpleFrame>(
-          new dart::dynamics::SimpleFrame(this)));
+  mSimpleFrames.push_back(std::make_unique<dart::dynamics::SimpleFrame>(this));
 
   auto shapeFrame = mSimpleFrames.back().get();
   shapeFrame->setShape(shape);

diff --git a/osgDart/examples/osgHuboPuppet.cpp b/osgDart/examples/osgHuboPuppet.cpp
@@ -189,7 +189,7 @@ class HuboArmIK : public InverseKinematics::Analytical
 
   std::unique_ptr<GradientMethod> clone(InverseKinematics* _newIK) const override
   {
-    return std::unique_ptr<GradientMethod>(new HuboArmIK(_newIK, mBaseLinkName, getAnalyticalProperties()));
+    return std::make_unique<HuboArmIK>(_newIK, mBaseLinkName, getAnalyticalProperties());
   }
 
   const std::vector<Solution>& computeSolutions(
@@ -478,7 +478,7 @@ class HuboLegIK : public InverseKinematics::Analytical
 
   std::unique_ptr<GradientMethod> clone(InverseKinematics* _newIK) const override
   {
-    return std::unique_ptr<GradientMethod>(new HuboLegIK(_newIK, mBaseLinkName, getAnalyticalProperties()));
+    return std::make_unique<HuboLegIK>(_newIK, mBaseLinkName, getAnalyticalProperties());
   }
 
   const std::vector<Solution>& computeSolutions(

diff --git a/tutorials/tutorialBiped-Finished.cpp b/tutorials/tutorialBiped-Finished.cpp
@@ -223,8 +223,7 @@ class MyWindow : public SimWindow
   {
     setWorld(world);
 
-    mController = std::unique_ptr<Controller>
-        (new Controller(mWorld->getSkeleton("biped")));
+    mController = std::make_unique<Controller>(mWorld->getSkeleton("biped"));
   }
 
   /// Handle keyboard input
@@ -473,8 +472,7 @@ int main(int argc, char* argv[])
 
 #ifdef HAVE_BULLET_COLLISION
   world->getConstraintSolver()->setCollisionDetector(
-      std::unique_ptr<dart::collision::BulletCollisionDetector>(
-          new dart::collision::BulletCollisionDetector()));
+      std::make_unique<dart::collision::BulletCollisionDetector>());
 #endif
 
   world->addSkeleton(floor);

diff --git a/tutorials/tutorialBiped.cpp b/tutorials/tutorialBiped.cpp
@@ -157,8 +157,7 @@ class MyWindow : public SimWindow
   {
     setWorld(world);
 
-    mController = std::unique_ptr<Controller>
-        (new Controller(mWorld->getSkeleton("biped")));
+    mController = std::make_unique<Controller>(mWorld->getSkeleton("biped"));
   }
 
   /// Handle keyboard input
@@ -311,8 +310,7 @@ int main(int argc, char* argv[])
 
 #ifdef HAVE_BULLET_COLLISION
   world->getConstraintSolver()->setCollisionDetector(
-      std::unique_ptr<dart::collision::BulletCollisionDetector>(
-          new dart::collision::BulletCollisionDetector()));
+      std::make_unique<dart::collision::BulletCollisionDetector>());
 #endif
 
   world->addSkeleton(floor);

diff --git a/tutorials/tutorialDominoes-Finished.cpp b/tutorials/tutorialDominoes-Finished.cpp
@@ -235,8 +235,8 @@ class MyWindow : public dart::gui::SimWindow
     mFirstDomino = world->getSkeleton("domino");
     mFloor = world->getSkeleton("floor");
 
-    mController = std::unique_ptr<Controller>(
-        new Controller(world->getSkeleton("manipulator"), mFirstDomino));
+    mController = std::make_unique<Controller>(
+        world->getSkeleton("manipulator"), mFirstDomino);
   }
 
   // Attempt to create a new domino. If the new domino would be in collision

diff --git a/tutorials/tutorialDominoes.cpp b/tutorials/tutorialDominoes.cpp
@@ -149,8 +149,8 @@ class MyWindow : public dart::gui::SimWindow
     mFirstDomino = world->getSkeleton("domino");
     mFloor = world->getSkeleton("floor");
 
-    mController = std::unique_ptr<Controller>(
-          new Controller(world->getSkeleton("manipulator"), mFirstDomino));
+    mController = std::make_unique<Controller>(
+        world->getSkeleton("manipulator"), mFirstDomino);
   }
 
   // Attempt to create a new domino. If the new domino would be in collision

diff --git a/unittests/testAddon.cpp b/unittests/testAddon.cpp
@@ -84,7 +84,7 @@ class GenericAddon : public Addon, public Subject
 
   std::unique_ptr<Addon> cloneAddon(AddonManager* newManager) const override final
   {
-    return std::unique_ptr<GenericAddon>(new GenericAddon(newManager));
+    return std::make_unique<GenericAddon>(newManager);
   }
 
 };
@@ -101,7 +101,7 @@ class SpecializedAddon : public Addon, public Subject
 
   std::unique_ptr<Addon> cloneAddon(AddonManager* newManager) const override final
   {
-    return std::unique_ptr<SpecializedAddon>(new SpecializedAddon(newManager));
+    return std::make_unique<SpecializedAddon>(newManager);
   }
 };
 
@@ -124,7 +124,7 @@ class StatefulAddon : public Addon, public Subject
 
     std::unique_ptr<Addon::State> clone() const override
     {
-      return std::unique_ptr<Addon::State>(new State(*this));
+      return std::make_unique<State>(*this);
     }
 
     void copy(const Addon::State& anotherState) override
@@ -147,7 +147,7 @@ class StatefulAddon : public Addon, public Subject
 
     std::unique_ptr<Addon::Properties> clone() const override
     {
-      return std::unique_ptr<Addon::Properties>(new Properties(*this));
+      return std::make_unique<Properties>(*this);
     }
 
     void copy(const Addon::Properties& otherProperties) override
@@ -184,7 +184,7 @@ class StatefulAddon : public Addon, public Subject
 
   std::unique_ptr<Addon> cloneAddon(AddonManager* newManager) const override final
   {
-    return std::unique_ptr<Addon>(new StatefulAddon(newManager, *this));
+    return std::make_unique<StatefulAddon>(newManager, *this);
   }
 
   void setAddonState(const Addon::State& otherState) override

diff --git a/unittests/testConstraint.cpp b/unittests/testConstraint.cpp
@@ -126,7 +126,7 @@ void ConstraintTest::SingleContactTest(const std::string& /*_fileName*/)
   world->setGravity(Vector3d(0.0, -10.00, 0.0));
   world->setTimeStep(0.001);
   world->getConstraintSolver()->setCollisionDetector(
-        std::unique_ptr<CollisionDetector>(new DARTCollisionDetector()));
+        std::make_unique<DARTCollisionDetector>());
 
   SkeletonPtr sphereSkel = createSphere(0.05, Vector3d(0.0, 1.0, 0.0));
   BodyNode* sphere = sphereSkel->getBodyNode(0);