DART  6.7.3
Memory.hpp
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32 
33 #ifndef DART_COMMON_MEMORY_HPP_
34 #define DART_COMMON_MEMORY_HPP_
35 
36 #include <map>
37 #include <memory>
38 #include <vector>
39 
40 #include "dart/config.hpp"
43 
44 namespace dart {
45 namespace common {
46 
47 template <typename _Tp, typename... _Args>
48 std::shared_ptr<_Tp> make_aligned_shared(_Args&&... __args);
49 
50 template<typename T, typename... Args>
51 std::unique_ptr<T> make_unique(Args&&... args);
52 
53 #if EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
54 
55 template <typename _Tp>
56 using aligned_vector = std::vector<_Tp,
57  dart::common::detail::aligned_allocator_cpp11<_Tp>>;
58 
59 template <typename _Key, typename _Tp, typename _Compare = std::less<_Key>>
60 using aligned_map = std::map<_Key, _Tp, _Compare,
61  dart::common::detail::aligned_allocator_cpp11<std::pair<const _Key, _Tp>>>;
62 
63 #else
64 
65 template <typename _Tp>
66 using aligned_vector = std::vector<_Tp, Eigen::aligned_allocator<_Tp>>;
67 
68 template <typename _Key, typename _Tp, typename _Compare = std::less<_Key>>
69 using aligned_map = std::map<_Key, _Tp, _Compare,
70  Eigen::aligned_allocator<std::pair<const _Key, _Tp>>>;
71 
72 #endif
73 
74 } // namespace common
75 } // namespace dart
76 
77 #define DART_RAW_PTR_CREATOR_NAME create
78 #define DART_SHARED_PTR_CREATOR_NAME createShared
79 #define DART_UNIQUE_PTR_CREATOR_NAME createUnique
80 
81 // Define static creator function that returns a smart pointer to an object
82 #define _DART_DEFINE_OBJECT_CREATOR( \
83  class_name, func_name, ptr_type, creator) \
84  template <typename... Args> \
85  static ptr_type<class_name> func_name(Args&&... args) \
86  { \
87  return creator<class_name>(std::forward<Args>(args)...); \
88  }
89 
90 // Define static creator function that returns a smart pointer to an object with
91 // protected constructor
92 #define _DART_DEFINE_OBJECT_CREATOR_FOR_PROTECTED_CTOR( \
93  class_name, func_name, ptr_type, creator) \
94 private: \
95  struct private_structure \
96  { \
97  explicit private_structure() \
98  { \
99  } \
100  }; \
101  \
102 public: \
103  template <typename... Args> \
104  class_name(const private_structure&, Args&&... args) \
105  : class_name(std::forward<Args>(args)...) \
106  { \
107  } \
108  template <typename... Args> \
109  static ptr_type<class_name> func_name(Args&&... args) \
110  { \
111  return creator<class_name>( \
112  private_structure{}, std::forward<Args>(args)...); \
113  }
114 
115 // Define static creator function that returns a raw pointer to the object.
116 // This static functions will be defined: create()
117 #define DART_DEFINE_RAW_OBJECT_CREATOR(class_name) \
118  template <typename... Args> \
119  static class_name* DART_RAW_PTR_CREATOR_NAME(Args&&... args) \
120  { \
121  return new class_name(std::forward<Args>(args)...); \
122  }
123 
124 // Define static creator function that returns std::shared_ptr to the object.
125 // This static functions will be defined: createShared()
126 #define DART_DEFINE_SHARED_OBJECT_CREATOR(class_name) \
127  \
128  _DART_DEFINE_OBJECT_CREATOR( \
129  class_name, \
130  DART_SHARED_PTR_CREATOR_NAME, \
131  std::shared_ptr, \
132  std::make_shared)
133 
134 // Define static creator function that returns std::shared_ptr to the object
135 // where the constructor is protected.
136 // This static functions will be defined: createShared()
137 #define DART_DEFINE_SHARED_OBJECT_CREATOR_FOR_PROTECTED_CTOR(class_name) \
138  \
139  _DART_DEFINE_OBJECT_CREATOR_FOR_PROTECTED_CTOR( \
140  class_name, \
141  DART_SHARED_PTR_CREATOR_NAME, \
142  std::shared_ptr, \
143  std::make_shared)
144 
145 // Define static creator function that returns std::shared_ptr to the object
146 // requires aligned memory allocation.
147 // This static functions will be defined: createShared()
148 #define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name) \
149  \
150  _DART_DEFINE_OBJECT_CREATOR( \
151  class_name, \
152  DART_SHARED_PTR_CREATOR_NAME, \
153  std::shared_ptr, \
154  ::dart::common::make_aligned_shared)
155 
156 // Define static creator function that returns std::shared_ptr to the object
157 // requires aligned memory allocation where the constructor is protected.
158 // This static functions will be defined: createShared()
159 #define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR_FOR_PROTECTED_CTOR( \
160  class_name) \
161  \
162  _DART_DEFINE_OBJECT_CREATOR_FOR_PROTECTED_CTOR( \
163  class_name, \
164  DART_SHARED_PTR_CREATOR_NAME, \
165  std::shared_ptr, \
166  ::dart::common::make_aligned_shared)
167 
168 // Define static creator function that returns std::unique_ptr to the object
169 #define DART_DEFINE_UNIQUE_OBJECT_CREATOR(class_name) duke \
170  \
171  _DART_DEFINE_OBJECT_CREATOR( \
172  class_name, \
173  DART_UNIQUE_PTR_CREATOR_NAME, \
174  std::unique_ptr, \
175  ::dart::common::make_unique)
176 
177 // Define static creator function that returns std::unique_ptr to the object
178 // where the constructor is protected
179 #define DART_DEFINE_UNIQUE_OBJECT_CREATOR_FOR_PROTECTED_CTOR(class_name) \
180  \
181  _DART_DEFINE_OBJECT_CREATOR_FOR_PROTECTED_CTOR( \
182  class_name, \
183  DART_UNIQUE_PTR_CREATOR_NAME, \
184  std::unique_ptr, \
185  ::dart::common::make_unique)
186 
187 // Define two static creator functions that returns std::unique_ptr and
188 // std::unique_ptr, respectively, to the object
189 #define DART_DEFINE_OBJECT_CREATORS(class_name) \
190  DART_DEFINE_SHARED_OBJECT_CREATOR(class_name) \
191  DART_DEFINE_UNIQUE_OBJECT_CREATOR(class_name)
192 
193 // Define two static creator functions that returns std::unique_ptr and
194 // std::unique_ptr, respectively, to the object where the constructor is
195 // protected
196 #define DART_DEFINE_OBJECT_CREATORS_FOR_PROTECTED_CTOR(X) \
197  DART_DEFINE_SHARED_OBJECT_CREATOR_FOR_PROTECTED_CTOR(X) \
198  DART_DEFINE_UNIQUE_OBJECT_CREATOR_FOR_PROTECTED_CTOR(X)
199 
200 // Define two static creator functions that returns std::unique_ptr and
201 // std::unique_ptr, respectively, to the object
202 #if DART_ENABLE_SIMD
203  #define DART_DEFINE_ALIGNED_OBJECT_CREATORS(class_name) \
204  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name) \
205  DART_DEFINE_UNIQUE_OBJECT_CREATOR(class_name)
206 #else
207  #define DART_DEFINE_ALIGNED_OBJECT_CREATORS(class_name) \
208  DART_DEFINE_OBJECT_CREATORS(class_name)
209 #endif
210 
211 // Define two static creator functions that returns std::unique_ptr and
212 // std::unique_ptr, respectively, to the object where the constructor is
213 // protected
214 #if DART_ENABLE_SIMD
215  #define DART_DEFINE_ALIGNED_OBJECT_CREATORS_FOR_PROTECTED_CTOR(class_name) \
216  DART_DEFINE_CREATE_ALIGNED_PTR_SHARED_FOR_PROTECTED_CTOR(class_name) \
217  DART_DEFINE_UNIQUE_OBJECT_CREATOR_FOR_PROTECTED_CTOR(class_name)
218 #else
219  #define DART_DEFINE_ALIGNED_OBJECT_CREATORS_FOR_PROTECTED_CTOR(class_name) \
220  DART_DEFINE_OBJECT_CREATORS_FOR_PROTECTED_CTOR(class_name)
221 #endif
222 
224 
225 #endif // DART_COMMON_MEMORY_HPP_
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:66
std::map< _Key, _Tp, _Compare, Eigen::aligned_allocator< std::pair< const _Key, _Tp > >> aligned_map
Definition: Memory.hpp:70
std::vector< _Tp, Eigen::aligned_allocator< _Tp > > aligned_vector
Definition: Memory.hpp:66
Definition: BulletCollisionDetector.cpp:63