DART  6.10.1
Memory-impl.hpp
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32 
33 #ifndef DART_COMMON_DETAIL_MEMORY_IMPL_HPP_
34 #define DART_COMMON_DETAIL_MEMORY_IMPL_HPP_
35 
36 #include <memory>
37 #include <Eigen/Core>
38 #include "dart/config.hpp"
39 
40 #if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
42 #else
43 # include <Eigen/StdVector>
44 #endif
45 
46 namespace dart {
47 namespace common {
48 
49 //==============================================================================
50 template <typename _Tp, typename... _Args>
51 std::shared_ptr<_Tp> make_aligned_shared(_Args&&... __args)
52 {
53  using _Tp_nc = typename std::remove_const<_Tp>::type;
54 
55 #if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
56  return std::allocate_shared<_Tp>(
57  detail::aligned_allocator_cpp11<_Tp_nc>(),
58  std::forward<_Args>(__args)...);
59 #else
60  return std::allocate_shared<_Tp>(
61  Eigen::aligned_allocator<_Tp_nc>(), std::forward<_Args>(__args)...);
62 #endif // EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
63 }
64 
65 //==============================================================================
66 template <typename T, typename... Args>
67 std::unique_ptr<T> make_unique(Args&&... args)
68 {
69  return std::make_unique<T>(std::forward<Args>(args)...);
70 }
71 
72 } // namespace common
73 } // namespace dart
74 
75 #endif // DART_COMMON_DETAIL_MEMORY_IMPL_HPP_
std::string type
Definition: SdfParser.cpp:82
std::shared_ptr< _Tp > make_aligned_shared(_Args &&... __args)
Definition: Memory-impl.hpp:51
std::unique_ptr< T > make_unique(Args &&... args)
Definition: Memory-impl.hpp:67
Definition: BulletCollisionDetector.cpp:65