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Explicitly call dart::common::make_unique to get over std ambiguity. #531

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Explicitly call dart::common::make_unique to get over std ambiguity. #531

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3 changes: 1 addition & 2 deletions src/distance/ConfigurationRanker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@ namespace distance {

using statespace::dart::ConstMetaSkeletonStateSpacePtr;
using statespace::dart::MetaSkeletonStateSpace;
using dart::common::make_unique;
using ::dart::dynamics::ConstMetaSkeletonPtr;

//==============================================================================
Expand Down Expand Up @@ -63,7 +62,7 @@ ConfigurationRanker::ConfigurationRanker(
metrics.emplace_back(std::make_pair(std::move(metric), weights[i]));
}

mDistanceMetric = make_unique<CartesianProductWeighted>(
mDistanceMetric = ::dart::common::make_unique<CartesianProductWeighted>(
std::move(_sspace), std::move(metrics));
}

Expand Down
3 changes: 1 addition & 2 deletions src/planner/kunzretimer/KunzRetimer.cpp
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Expand Up @@ -10,7 +10,6 @@
#include "Path.h"
#include "Trajectory.h"

using dart::common::make_unique;
using aikido::statespace::dart::MetaSkeletonStateSpace;
using aikido::statespace::ConstStateSpacePtr;
using aikido::trajectory::toR1JointTrajectory;
Expand Down Expand Up @@ -52,7 +51,7 @@ std::unique_ptr<Path> convertToKunzPath(
stateSpace->logMap(tmpState, tmpVec);
waypoints.push_back(tmpVec);
}
auto path = make_unique<Path>(waypoints, maxDeviation);
auto path = ::dart::common::make_unique<Path>(waypoints, maxDeviation);
return path;
}

Expand Down
7 changes: 3 additions & 4 deletions src/planner/parabolic/ParabolicUtil.cpp
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Expand Up @@ -20,7 +20,6 @@ using aikido::statespace::dart::MetaSkeletonStateSpace;
using aikido::trajectory::toR1JointTrajectory;
using aikido::trajectory::ConstInterpolatedPtr;
using aikido::trajectory::ConstSplinePtr;
using dart::common::make_unique;

using CubicSplineProblem
= aikido::common::SplineProblem<double, int, 4, Eigen::Dynamic, 2>;
Expand Down Expand Up @@ -102,7 +101,7 @@ std::unique_ptr<aikido::trajectory::Spline> convertToSpline(
Eigen::VectorXd positionPrev, velocityPrev;
evaluateAtTime(_inputPath, timePrev, positionPrev, velocityPrev);

auto _outputTrajectory = make_unique<aikido::trajectory::Spline>(
auto _outputTrajectory = ::dart::common::make_unique<aikido::trajectory::Spline>(
_stateSpace, timePrev + _startTime);
auto segmentStartState = _stateSpace->createState();

Expand Down Expand Up @@ -163,7 +162,7 @@ std::unique_ptr<ParabolicRamp::DynamicPath> convertToDynamicPath(
velocities.emplace_back(toVector(tangentVector));
}

auto outputPath = make_unique<ParabolicRamp::DynamicPath>();
auto outputPath = ::dart::common::make_unique<ParabolicRamp::DynamicPath>();
outputPath->Init(toVector(_maxVelocity), toVector(_maxAcceleration));
if (_preserveWaypointVelocity)
{
Expand Down Expand Up @@ -202,7 +201,7 @@ std::unique_ptr<ParabolicRamp::DynamicPath> convertToDynamicPath(
milestones.emplace_back(toVector(currVec));
}

auto outputPath = make_unique<ParabolicRamp::DynamicPath>();
auto outputPath = ::dart::common::make_unique<ParabolicRamp::DynamicPath>();
outputPath->Init(toVector(_maxVelocity), toVector(_maxAcceleration));
outputPath->SetMilestones(milestones);
if (!outputPath->IsValid())
Expand Down
9 changes: 4 additions & 5 deletions src/trajectory/util.cpp
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Expand Up @@ -23,7 +23,6 @@ using aikido::statespace::GeodesicInterpolator;
using aikido::statespace::StateSpacePtr;
using aikido::statespace::dart::MetaSkeletonStateSpace;
using aikido::statespace::dart::MetaSkeletonStateSpacePtr;
using dart::common::make_unique;

using Eigen::Vector2d;
using LinearSplineProblem
Expand Down Expand Up @@ -89,7 +88,7 @@ UniqueSplinePtr convertToSpline(const Interpolated& inputTrajectory)
throw std::invalid_argument("Trajectory is empty.");

auto outputTrajectory
= make_unique<Spline>(stateSpace, inputTrajectory.getStartTime());
= ::dart::common::make_unique<Spline>(stateSpace, inputTrajectory.getStartTime());

Eigen::VectorXd currentVec, nextVec;
for (std::size_t iwaypoint = 0; iwaypoint < numWaypoints - 1; ++iwaypoint)
Expand Down Expand Up @@ -128,7 +127,7 @@ UniqueInterpolatedPtr concatenate(
if (traj1.getInterpolator() != traj2.getInterpolator())
throw std::runtime_error("Interpolator mismatch");

auto outputTrajectory = make_unique<Interpolated>(
auto outputTrajectory = ::dart::common::make_unique<Interpolated>(
traj1.getStateSpace(), traj1.getInterpolator());
if (traj1.getNumWaypoints() > 1u)
{
Expand Down Expand Up @@ -197,7 +196,7 @@ UniqueSplinePtr createPartialTrajectory(

const auto stateSpace = traj.getStateSpace();
const int dimension = static_cast<int>(stateSpace->getDimension());
auto outputTrajectory = make_unique<Spline>(stateSpace, traj.getStartTime());
auto outputTrajectory = ::dart::common::make_unique<Spline>(stateSpace, traj.getStartTime());

double currSegmentStartTime = traj.getStartTime();
double currSegmentEndTime = currSegmentStartTime;
Expand Down Expand Up @@ -279,7 +278,7 @@ UniqueInterpolatedPtr toR1JointTrajectory(const Interpolated& trajectory)

auto rSpace = std::make_shared<CartesianProduct>(subspaces);
auto rInterpolator = std::make_shared<GeodesicInterpolator>(rSpace);
auto rTrajectory = make_unique<Interpolated>(rSpace, rInterpolator);
auto rTrajectory = ::dart::common::make_unique<Interpolated>(rSpace, rInterpolator);

Eigen::VectorXd sourceVector(space->getDimension());
auto sourceState = rSpace->createState();
Expand Down