Fix compiling dart::common::make_unique() with recent GCC versions

include/aikido/constraint/dart/detail/JointStateSpaceHelpers-impl.hpp

@@ -19,8 +19,6 @@ namespace constraint {
 namespace dart {
 namespace detail {
 
-using ::dart::common::make_unique;
-
 //==============================================================================
 using JointStateSpaceTypeList
     = common::type_list<const statespace::dart::R0Joint,
@@ -69,15 +67,15 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
 
   if (properties.isPositionLimited())
   {
-    return make_unique<uniform::RBoxConstraint<N>>(
+    return ::dart::common::make_unique<uniform::RBoxConstraint<N>>(
         std::move(_stateSpace),
         std::move(_rng),
         properties.getPositionLowerLimits(),
         properties.getPositionUpperLimits());
   }
   else
   {
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 }
 
@@ -135,7 +133,7 @@ struct createSampleableFor_impl<const statespace::dart::RJoint<N>>
 
     if (properties.isPositionLimited())
     {
-      return make_unique<uniform::RBoxConstraint<N>>(
+      return ::dart::common::make_unique<uniform::RBoxConstraint<N>>(
           std::move(_stateSpace),
           std::move(_rng),
           properties.getPositionLowerLimits(),
@@ -160,7 +158,7 @@ struct createDifferentiableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -176,7 +174,7 @@ struct createTestableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -192,7 +190,7 @@ struct createProjectableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -209,7 +207,7 @@ struct createSampleableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<uniform::SO2UniformSampler>(
+    return ::dart::common::make_unique<uniform::SO2UniformSampler>(
         std::move(_stateSpace), std::move(_rng));
   }
 };
@@ -226,7 +224,7 @@ struct createDifferentiableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -242,7 +240,7 @@ struct createTestableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -258,7 +256,7 @@ struct createProjectableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -275,7 +273,7 @@ struct createSampleableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<uniform::SO3UniformSampler>(
+    return ::dart::common::make_unique<uniform::SO3UniformSampler>(
         std::move(_stateSpace), std::move(_rng));
   }
 };
@@ -290,15 +288,15 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
 
   if (properties.isPositionLimited())
   {
-    return make_unique<uniform::SE2BoxConstraint>(
+    return ::dart::common::make_unique<uniform::SE2BoxConstraint>(
         std::move(_stateSpace),
         std::move(_rng),
         properties.getPositionLowerLimits().tail<2>(),
         properties.getPositionUpperLimits().tail<2>());
   }
   else
   {
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 }
 
@@ -381,7 +379,7 @@ struct createSampleableFor_impl<const statespace::dart::SE2Joint>
     }
     else
     {
-      return make_unique<uniform::SE2BoxConstraint>(
+      return ::dart::common::make_unique<uniform::SE2BoxConstraint>(
           std::move(stateSpace),
           std::move(rng),
           properties.getPositionLowerLimits().tail<2>(),
@@ -451,7 +449,7 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
     std::shared_ptr<const statespace::dart::WeldJoint> _stateSpace,
     std::unique_ptr<common::RNG> /*_rng*/)
 {
-  return make_unique<Satisfied>(std::move(_stateSpace));
+  return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
 }
 
 //==============================================================================
@@ -506,7 +504,7 @@ struct createSampleableFor_impl<const statespace::dart::WeldJoint>
     // A WeldJoint has zero DOFs
     Eigen::VectorXd positions = Eigen::Matrix<double, 0, 1>();
 
-    return make_unique<uniform::R0ConstantSampler>(
+    return ::dart::common::make_unique<uniform::R0ConstantSampler>(
         std::move(_stateSpace), positions);
   }
 };

include/aikido/distance/detail/defaults-impl.hpp

@@ -16,7 +16,6 @@ namespace aikido {
 namespace distance {
 namespace detail {
 
-using dart::common::make_unique;
 using Ptr = std::unique_ptr<DistanceMetric>;
 
 //==============================================================================
@@ -32,7 +31,7 @@ struct createDistanceMetricFor_impl<const statespace::R0>
 {
   static Ptr create(std::shared_ptr<const statespace::R0> _sspace)
   {
-    return make_unique<R0Euclidean>(std::move(_sspace));
+    return ::dart::common::make_unique<R0Euclidean>(std::move(_sspace));
   }
 };
 
@@ -42,7 +41,7 @@ struct createDistanceMetricFor_impl<const statespace::R1>
 {
   static Ptr create(std::shared_ptr<const statespace::R1> _sspace)
   {
-    return make_unique<R1Euclidean>(std::move(_sspace));
+    return ::dart::common::make_unique<R1Euclidean>(std::move(_sspace));
   }
 };
 
@@ -52,7 +51,7 @@ struct createDistanceMetricFor_impl<const statespace::R2>
 {
   static Ptr create(std::shared_ptr<const statespace::R2> _sspace)
   {
-    return make_unique<R2Euclidean>(std::move(_sspace));
+    return ::dart::common::make_unique<R2Euclidean>(std::move(_sspace));
   }
 };
 
@@ -62,7 +61,7 @@ struct createDistanceMetricFor_impl<const statespace::R3>
 {
   static Ptr create(std::shared_ptr<const statespace::R3> _sspace)
   {
-    return make_unique<R3Euclidean>(std::move(_sspace));
+    return ::dart::common::make_unique<R3Euclidean>(std::move(_sspace));
   }
 };
 
@@ -72,7 +71,7 @@ struct createDistanceMetricFor_impl<const statespace::R6>
 {
   static Ptr create(std::shared_ptr<const statespace::R6> _sspace)
   {
-    return make_unique<R6Euclidean>(std::move(_sspace));
+    return ::dart::common::make_unique<R6Euclidean>(std::move(_sspace));
   }
 };
 
@@ -82,7 +81,7 @@ struct createDistanceMetricFor_impl<const statespace::SO2>
 {
   static Ptr create(std::shared_ptr<const statespace::SO2> _sspace)
   {
-    return make_unique<SO2Angular>(std::move(_sspace));
+    return ::dart::common::make_unique<SO2Angular>(std::move(_sspace));
   }
 };
 
@@ -92,7 +91,7 @@ struct createDistanceMetricFor_impl<const statespace::SO3>
 {
   static Ptr create(std::shared_ptr<const statespace::SO3> _sspace)
   {
-    return make_unique<SO3Angular>(std::move(_sspace));
+    return ::dart::common::make_unique<SO3Angular>(std::move(_sspace));
   }
 };
 
@@ -116,7 +115,7 @@ struct createDistanceMetricFor_impl<const statespace::CartesianProduct>
       metrics.emplace_back(std::move(metric));
     }
 
-    return make_unique<CartesianProductWeighted>(
+    return ::dart::common::make_unique<CartesianProductWeighted>(
         std::move(_sspace), std::move(metrics));
   }
 };
@@ -127,7 +126,7 @@ struct createDistanceMetricFor_impl<const statespace::SE2>
 {
   static Ptr create(std::shared_ptr<const statespace::SE2> _sspace)
   {
-    return make_unique<SE2Weighted>(std::move(_sspace));
+    return ::dart::common::make_unique<SE2Weighted>(std::move(_sspace));
   }
 };
 

include/aikido/statespace/dart/detail/JointStateSpaceHelpers-impl.hpp

@@ -13,7 +13,6 @@ namespace statespace {
 namespace dart {
 namespace detail {
 
-using ::dart::common::make_unique;
 using Ptr = std::unique_ptr<JointStateSpace>;
 
 //==============================================================================
@@ -29,9 +28,9 @@ struct createJointStateSpaceFor_impl<const ::dart::dynamics::RevoluteJoint>
   static Ptr create(const ::dart::dynamics::RevoluteJoint* _joint)
   {
     if (_joint->isCyclic(0))
-      return make_unique<SO2Joint>(_joint);
+      return ::dart::common::make_unique<SO2Joint>(_joint);
     else
-      return make_unique<R1Joint>(_joint);
+      return ::dart::common::make_unique<R1Joint>(_joint);
   }
 };
 
@@ -41,7 +40,7 @@ struct createJointStateSpaceFor_impl<const ::dart::dynamics::PrismaticJoint>
 {
   static Ptr create(const ::dart::dynamics::PrismaticJoint* _joint)
   {
-    return make_unique<R1Joint>(_joint);
+    return ::dart::common::make_unique<R1Joint>(_joint);
   }
 };
 
@@ -51,7 +50,7 @@ struct createJointStateSpaceFor_impl<const ::dart::dynamics::TranslationalJoint>
 {
   static Ptr create(const ::dart::dynamics::TranslationalJoint* _joint)
   {
-    return make_unique<R3Joint>(_joint);
+    return ::dart::common::make_unique<R3Joint>(_joint);
   }
 };
 
@@ -61,7 +60,7 @@ struct createJointStateSpaceFor_impl<const ::dart::dynamics::BallJoint>
 {
   static Ptr create(const ::dart::dynamics::BallJoint* _joint)
   {
-    return make_unique<SO3Joint>(_joint);
+    return ::dart::common::make_unique<SO3Joint>(_joint);
   }
 };
 
@@ -71,7 +70,7 @@ struct createJointStateSpaceFor_impl<const ::dart::dynamics::PlanarJoint>
 {
   static Ptr create(const ::dart::dynamics::PlanarJoint* _joint)
   {
-    return make_unique<SE2Joint>(_joint);
+    return ::dart::common::make_unique<SE2Joint>(_joint);
   }
 };
 
@@ -81,7 +80,7 @@ struct createJointStateSpaceFor_impl<const ::dart::dynamics::FreeJoint>
 {
   static Ptr create(const ::dart::dynamics::FreeJoint* _joint)
   {
-    return make_unique<SE3Joint>(_joint);
+    return ::dart::common::make_unique<SE3Joint>(_joint);
   }
 };
 
@@ -91,7 +90,7 @@ struct createJointStateSpaceFor_impl<const ::dart::dynamics::WeldJoint>
 {
   static Ptr create(const ::dart::dynamics::WeldJoint* _joint)
   {
-    return make_unique<WeldJoint>(_joint);
+    return ::dart::common::make_unique<WeldJoint>(_joint);
   }
 };
 

src/constraint/CartesianProductSampleable.cpp

@@ -4,8 +4,6 @@
 namespace aikido {
 namespace constraint {
 
-using dart::common::make_unique;
-
 //==============================================================================
 class SubspaceSampleGenerator : public SampleGenerator
 {
@@ -133,7 +131,7 @@ CartesianProductSampleable::createSampleGenerator() const
   for (const auto& constraint : mConstraints)
     generators.emplace_back(constraint->createSampleGenerator());
 
-  return make_unique<SubspaceSampleGenerator>(
+  return ::dart::common::make_unique<SubspaceSampleGenerator>(
       mStateSpace, std::move(generators));
 }
 

src/constraint/CartesianProductTestable.cpp

@@ -4,8 +4,6 @@
 namespace aikido {
 namespace constraint {
 
-using dart::common::make_unique;
-
 //==============================================================================
 CartesianProductTestable::CartesianProductTestable(
     std::shared_ptr<const statespace::CartesianProduct> _stateSpace,

src/constraint/CyclicSampleable.cpp

@@ -157,7 +157,7 @@ statespace::ConstStateSpacePtr CyclicSampleable::getStateSpace() const
 //==============================================================================
 std::unique_ptr<SampleGenerator> CyclicSampleable::createSampleGenerator() const
 {
-  return dart::common::make_unique<FiniteCyclicSampleGenerator>(
+  return ::dart::common::make_unique<FiniteCyclicSampleGenerator>(
       mSampleable->createSampleGenerator());
 }
 

src/constraint/FiniteSampleable.cpp

@@ -179,7 +179,8 @@ statespace::ConstStateSpacePtr FiniteSampleable::getStateSpace() const
 //==============================================================================
 std::unique_ptr<SampleGenerator> FiniteSampleable::createSampleGenerator() const
 {
-  return dart::common::make_unique<FiniteSampleGenerator>(mStateSpace, mStates);
+  return ::dart::common::make_unique<FiniteSampleGenerator>(
+      mStateSpace, mStates);
 }
 
 } // namespace constraint

src/constraint/RejectionSampleable.cpp

@@ -1,8 +1,6 @@
 #include <dart/common/StlHelpers.hpp>
 #include <aikido/constraint/RejectionSampleable.hpp>
 
-using dart::common::make_unique;
-
 namespace aikido {
 namespace constraint {
 
@@ -94,7 +92,7 @@ std::unique_ptr<SampleGenerator> RejectionSampleable::createSampleGenerator()
     const
 {
   auto sampler = mSampleable->createSampleGenerator();
-  return make_unique<RejectionSampler>(
+  return ::dart::common::make_unique<RejectionSampler>(
       mStateSpace, std::move(sampler), mTestable, mMaxTrialPerSample);
 }
 

src/constraint/SequentialSampleable.cpp

@@ -169,7 +169,7 @@ std::unique_ptr<SampleGenerator> SequentialSampleable::createSampleGenerator()
   for (const auto& sampleable : mSampleables)
     generators.emplace_back(sampleable->createSampleGenerator());
 
-  return dart::common::make_unique<SequentialSampleGenerator>(
+  return ::dart::common::make_unique<SequentialSampleGenerator>(
       mStateSpace, std::move(generators));
 }