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)
{
  typedef typename std::remove_const<_Tp>::type _Tp_nc;
 
#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::unique_ptr<T>(new T(std::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 common
} // namespace dart
 
#endif // DART_COMMON_DETAIL_MEMORY_IMPL_HPP_