Memory-impl.hpp

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#ifndef DART_COMMON_DETAIL_MEMORY_IMPL_HPP_
#define DART_COMMON_DETAIL_MEMORY_IMPL_HPP_
 
#include <memory>
#include <Eigen/Core>
#include "dart/config.hpp"
 
#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
#  include "dart/common/detail/AlignedAllocator.hpp"
#else
#  include <Eigen/StdVector>
#endif
 
namespace dart {
namespace common {
 
//==============================================================================
template <typename _Tp, typename... _Args>
std::shared_ptr<_Tp> make_aligned_shared(_Args&&... __args)
{
  using _Tp_nc = typename std::remove_const<_Tp>::type;
 
#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
  return std::allocate_shared<_Tp>(
      detail::aligned_allocator_cpp11<_Tp_nc>(),
      std::forward<_Args>(__args)...);
#else
  return std::allocate_shared<_Tp>(
      Eigen::aligned_allocator<_Tp_nc>(), std::forward<_Args>(__args)...);
#endif // EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
}
 
//==============================================================================
template <typename T, typename... Args>
std::unique_ptr<T> make_unique(Args&&... args)
{
  return std::make_unique<T>(std::forward<Args>(args)...);
}
 
} // namespace common
} // namespace dart
 
#endif // DART_COMMON_DETAIL_MEMORY_IMPL_HPP_