Remove use of deprecated dart::common::make_unique

.ci/script_cmake.sh

@@ -8,4 +8,4 @@ mkdir build
 cd build
 cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DTREAT_WARNINGS_AS_ERRORS=ON ..
 make -j4 tests
-make test
+ctest

.travis.yml

@@ -84,7 +84,7 @@ matrix:
       services: docker
 
     - os: osx
-      osx_image: xcode9.3
+      osx_image: xcode11
       compiler: clang
       env:
         - BUILD_NAME=XCODE93_CMAKE_RELEASE

Brewfile

@@ -1,6 +1,24 @@
 brew 'boost'
 brew 'dartsim'
+brew 'eigen'
 brew 'libmicrohttpd'
 brew 'ompl'
 brew 'tinyxml2'
 brew 'yaml-cpp'
+
+# Install dartsim dependencies explicitly because, for some unknown reasons,
+# Travis CI + Homebrew fails to find the dartsim dependencies.
+brew 'assimp'
+brew 'boost'
+brew 'bullet'
+brew 'eigen'
+brew 'fcl'
+brew 'flann'
+brew 'ipopt'
+brew 'libccd'
+brew 'nlopt'
+brew 'octomap'
+brew 'ode'
+brew 'open-scene-graph'
+brew 'tinyxml2'
+brew 'urdfdom'

README.md

@@ -16,7 +16,7 @@ execution on real robots.
 AIKIDO depends on [ROS]. You should [install ROS](http://wiki.ros.org/indigo/Installation/Ubuntu) by adding the ROS repository to your `sources.list` as follows. We encourage users to install [`indigo`](http://wiki.ros.org/indigo).
 ```shell
 $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 $ sudo apt-get update
 $ sudo apt-get install ros-indigo-actionlib ros-indigo-geometry-msgs ros-indigo-interactive-markers ros-indigo-roscpp ros-indigo-std-msgs ros-indigo-tf ros-indigo-trajectory-msgs ros-indigo-visualization-msgs
 ```

include/aikido/common/detail/memory-impl.hpp

@@ -0,0 +1,23 @@
+#ifndef AIKIDO_COMMON_DETAIL_MEMORY_IMPL_HPP_
+#define AIKIDO_COMMON_DETAIL_MEMORY_IMPL_HPP_
+
+#include "aikido/common/memory.hpp"
+
+namespace aikido {
+namespace common {
+
+//==============================================================================
+template<typename T, typename... Args>
+::std::unique_ptr<T> make_unique(Args&&... args)
+{
+#if __cplusplus < 201300
+  return ::std::unique_ptr<T>(new T(::std::forward<Args>(args)...));
+#else
+  return ::std::make_unique<T>(::std::forward<Args>(args)...);
+#endif
+}
+
+} // namespace common
+} // namespace aikido
+
+#endif // AIKIDO_COMMON_DETAIL_MEMORY_IMPL_HPP_

include/aikido/common/memory.hpp

@@ -0,0 +1,17 @@
+#ifndef AIKIDO_COMMON_MEMORY_HPP_
+#define AIKIDO_COMMON_MEMORY_HPP_
+
+#include <memory>
+
+namespace aikido {
+namespace common {
+
+template <typename T, typename... Args>
+::std::unique_ptr<T> make_unique(Args&&... args);
+
+} // namespace common
+} // namespace aikido
+
+#include "aikido/common/detail/memory-impl.hpp"
+
+#endif // AIKIDO_COMMON_MEMORY_HPP_

include/aikido/constraint/Differentiable.hpp

@@ -25,6 +25,7 @@ enum class ConstraintType
 class Differentiable
 {
 public:
+  /// Destructor
   virtual ~Differentiable() = default;
 
   /// Gets the StateSpace that this constraint operates on.

include/aikido/constraint/TestableOutcome.hpp

@@ -13,6 +13,9 @@ namespace constraint {
 class TestableOutcome
 {
 public:
+  /// Destructor
+  virtual ~TestableOutcome() = default;
+
   /// Returns true if isSatisfied call this outcome object was passed to
   /// returned true. False otherwise.
   virtual bool isSatisfied() const = 0;

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

@@ -1,5 +1,5 @@
 #include <sstream>
-#include <dart/common/StlHelpers.hpp>
+#include "aikido/common/memory.hpp"
 #include "aikido/common/metaprogramming.hpp"
 #include "aikido/constraint/Satisfied.hpp"
 #include "aikido/constraint/uniform/RnBoxConstraint.hpp"
@@ -67,15 +67,15 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
 
   if (properties.isPositionLimited())
   {
-    return ::dart::common::make_unique<uniform::RBoxConstraint<N>>(
+    return ::aikido::common::make_unique<uniform::RBoxConstraint<N>>(
         std::move(_stateSpace),
         std::move(_rng),
         properties.getPositionLowerLimits(),
         properties.getPositionUpperLimits());
   }
   else
   {
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 }
 
@@ -133,7 +133,7 @@ struct createSampleableFor_impl<const statespace::dart::RJoint<N>>
 
     if (properties.isPositionLimited())
     {
-      return ::dart::common::make_unique<uniform::RBoxConstraint<N>>(
+      return ::aikido::common::make_unique<uniform::RBoxConstraint<N>>(
           std::move(_stateSpace),
           std::move(_rng),
           properties.getPositionLowerLimits(),
@@ -158,7 +158,7 @@ struct createDifferentiableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -174,7 +174,7 @@ struct createTestableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -190,7 +190,7 @@ struct createProjectableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -207,7 +207,7 @@ struct createSampleableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return ::dart::common::make_unique<uniform::SO2UniformSampler>(
+    return ::aikido::common::make_unique<uniform::SO2UniformSampler>(
         std::move(_stateSpace), std::move(_rng));
   }
 };
@@ -224,7 +224,7 @@ struct createDifferentiableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -240,7 +240,7 @@ struct createTestableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -256,7 +256,7 @@ struct createProjectableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -273,7 +273,7 @@ struct createSampleableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return ::dart::common::make_unique<uniform::SO3UniformSampler>(
+    return ::aikido::common::make_unique<uniform::SO3UniformSampler>(
         std::move(_stateSpace), std::move(_rng));
   }
 };
@@ -288,15 +288,15 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
 
   if (properties.isPositionLimited())
   {
-    return ::dart::common::make_unique<uniform::SE2BoxConstraint>(
+    return ::aikido::common::make_unique<uniform::SE2BoxConstraint>(
         std::move(_stateSpace),
         std::move(_rng),
         properties.getPositionLowerLimits().tail<2>(),
         properties.getPositionUpperLimits().tail<2>());
   }
   else
   {
-    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+    return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 }
 
@@ -379,7 +379,7 @@ struct createSampleableFor_impl<const statespace::dart::SE2Joint>
     }
     else
     {
-      return ::dart::common::make_unique<uniform::SE2BoxConstraint>(
+      return ::aikido::common::make_unique<uniform::SE2BoxConstraint>(
           std::move(stateSpace),
           std::move(rng),
           properties.getPositionLowerLimits().tail<2>(),
@@ -449,7 +449,7 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
     std::shared_ptr<const statespace::dart::WeldJoint> _stateSpace,
     std::unique_ptr<common::RNG> /*_rng*/)
 {
-  return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
+  return ::aikido::common::make_unique<Satisfied>(std::move(_stateSpace));
 }
 
 //==============================================================================
@@ -504,7 +504,7 @@ struct createSampleableFor_impl<const statespace::dart::WeldJoint>
     // A WeldJoint has zero DOFs
     Eigen::VectorXd positions = Eigen::Matrix<double, 0, 1>();
 
-    return ::dart::common::make_unique<uniform::R0ConstantSampler>(
+    return ::aikido::common::make_unique<uniform::R0ConstantSampler>(
         std::move(_stateSpace), positions);
   }
 };

include/aikido/constraint/uniform/detail/RnConstantSampler-impl.hpp

@@ -1,5 +1,6 @@
 #include <stdexcept>
 #include <dart/dart.hpp>
+#include "aikido/common/memory.hpp"
 #include "aikido/constraint/uniform/RnConstantSampler.hpp"
 
 #undef dtwarn
@@ -124,7 +125,7 @@ template <int N>
 std::unique_ptr<constraint::SampleGenerator>
 RConstantSampler<N>::createSampleGenerator() const
 {
-  return ::dart::common::make_unique<RnConstantSamplerSampleGenerator<N>>(
+  return ::aikido::common::make_unique<RnConstantSamplerSampleGenerator<N>>(
       mSpace, mValue);
 }
 

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

@@ -1,4 +1,4 @@
-#include <dart/common/StlHelpers.hpp>
+#include "aikido/common/memory.hpp"
 
 #include "../../common/metaprogramming.hpp"
 #include "../../statespace/CartesianProduct.hpp"
@@ -31,7 +31,7 @@ struct createDistanceMetricFor_impl<const statespace::R0>
 {
   static Ptr create(std::shared_ptr<const statespace::R0> _sspace)
   {
-    return ::dart::common::make_unique<R0Euclidean>(std::move(_sspace));
+    return ::aikido::common::make_unique<R0Euclidean>(std::move(_sspace));
   }
 };
 
@@ -41,7 +41,7 @@ struct createDistanceMetricFor_impl<const statespace::R1>
 {
   static Ptr create(std::shared_ptr<const statespace::R1> _sspace)
   {
-    return ::dart::common::make_unique<R1Euclidean>(std::move(_sspace));
+    return ::aikido::common::make_unique<R1Euclidean>(std::move(_sspace));
   }
 };
 
@@ -51,7 +51,7 @@ struct createDistanceMetricFor_impl<const statespace::R2>
 {
   static Ptr create(std::shared_ptr<const statespace::R2> _sspace)
   {
-    return ::dart::common::make_unique<R2Euclidean>(std::move(_sspace));
+    return ::aikido::common::make_unique<R2Euclidean>(std::move(_sspace));
   }
 };
 
@@ -61,7 +61,7 @@ struct createDistanceMetricFor_impl<const statespace::R3>
 {
   static Ptr create(std::shared_ptr<const statespace::R3> _sspace)
   {
-    return ::dart::common::make_unique<R3Euclidean>(std::move(_sspace));
+    return ::aikido::common::make_unique<R3Euclidean>(std::move(_sspace));
   }
 };
 
@@ -71,7 +71,7 @@ struct createDistanceMetricFor_impl<const statespace::R6>
 {
   static Ptr create(std::shared_ptr<const statespace::R6> _sspace)
   {
-    return ::dart::common::make_unique<R6Euclidean>(std::move(_sspace));
+    return ::aikido::common::make_unique<R6Euclidean>(std::move(_sspace));
   }
 };
 
@@ -81,7 +81,7 @@ struct createDistanceMetricFor_impl<const statespace::SO2>
 {
   static Ptr create(std::shared_ptr<const statespace::SO2> _sspace)
   {
-    return ::dart::common::make_unique<SO2Angular>(std::move(_sspace));
+    return ::aikido::common::make_unique<SO2Angular>(std::move(_sspace));
   }
 };
 
@@ -91,7 +91,7 @@ struct createDistanceMetricFor_impl<const statespace::SO3>
 {
   static Ptr create(std::shared_ptr<const statespace::SO3> _sspace)
   {
-    return ::dart::common::make_unique<SO3Angular>(std::move(_sspace));
+    return ::aikido::common::make_unique<SO3Angular>(std::move(_sspace));
   }
 };
 
@@ -115,7 +115,7 @@ struct createDistanceMetricFor_impl<const statespace::CartesianProduct>
       metrics.emplace_back(std::move(metric));
     }
 
-    return ::dart::common::make_unique<CartesianProductWeighted>(
+    return ::aikido::common::make_unique<CartesianProductWeighted>(
         std::move(_sspace), std::move(metrics));
   }
 };
@@ -126,7 +126,7 @@ struct createDistanceMetricFor_impl<const statespace::SE2>
 {
   static Ptr create(std::shared_ptr<const statespace::SE2> _sspace)
   {
-    return ::dart::common::make_unique<SE2Weighted>(std::move(_sspace));
+    return ::aikido::common::make_unique<SE2Weighted>(std::move(_sspace));
   }
 };
 

include/aikido/io/detail/yaml_extension.hpp

@@ -4,7 +4,7 @@
 #include <sstream>
 #include <unordered_map>
 #include <Eigen/Dense>
-#include <dart/common/StlHelpers.hpp>
+#include "aikido/common/memory.hpp"
 #include <yaml-cpp/yaml.h>
 
 namespace aikido {

include/aikido/planner/vectorfield/VectorField.hpp

@@ -23,6 +23,9 @@ class VectorField
   /// \param[in] stateSpace State space that vector field is defined in.
   explicit VectorField(aikido::statespace::ConstStateSpacePtr stateSpace);
 
+  /// Destructor
+  virtual ~VectorField() = default;
+
   /// Vectorfield callback function.
   ///
   /// \param[in] state Statespace state.