1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2019-, Open Perception, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 */
36
37 #pragma once
38
39 /**
40 * \file pcl/memory.h
41 *
42 * \brief Defines functions, macros and traits for allocating and using memory.
43 * \ingroup common
44 */
45
46 #include <pcl/type_traits.h> // for has_custom_allocator
47
48 #include <Eigen/Core> // for EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49
50 #include <memory> // for std::allocate_shared, std::dynamic_pointer_cast, std::make_shared, std::shared_ptr, std::static_pointer_cast, std::weak_ptr
51 #include <type_traits> // for std::enable_if_t, std::false_type, std::true_type
52 #include <utility> // for std::forward
53
54 /**
55 * \brief Macro to signal a class requires a custom allocator
56 *
57 * It's an implementation detail to have pcl::has_custom_allocator work, a
58 * thin wrapper over Eigen's own macro
59 *
60 * \see pcl::has_custom_allocator, pcl::make_shared
61 * \ingroup common
62 */
63 #define PCL_MAKE_ALIGNED_OPERATOR_NEW \
64 EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
65 using _custom_allocator_type_trait = void;
66
67
68 namespace pcl
69 {
70 /**
71 * \brief Force ADL for `shared_ptr`
72 *
73 * For ease of switching from boost::shared_ptr to std::shared_ptr
74 *
75 * \see pcl::make_shared
76 */
77 using std::shared_ptr;
78
79 /**
80 * \brief Force ADL for `weak_ptr`
81 *
82 * For ease of switching from boost::weak_ptr to std::weak_ptr
83 */
84 using std::weak_ptr;
85
86 /** ADL doesn't work until C++20 for dynamic_pointer_cast since it requires an explicit Tparam */
87 using std::dynamic_pointer_cast;
88
89 /** ADL doesn't work until C++20 for static_pointer_cast since it requires an explicit Tparam */
90 using std::static_pointer_cast;
91
92 #ifdef DOXYGEN_ONLY
93
94 /**
95 * \brief Returns a pcl::shared_ptr compliant with type T's allocation policy.
96 *
97 * std::allocate_shared or std::make_shared will be invoked in case T has or
98 * doesn't have a custom allocator, respectively.
99 *
100 * \note In MSVC < 1915 (before version 15.8) alignment was incorrectly set at
101 * most at alignof(max_align_t). This bug was fixed in said version and is
102 * acknowledged by defining _ENABLE_EXTENDED_ALIGNED_STORAGE. See #3752.
103 *
104 * \see pcl::has_custom_allocator, PCL_MAKE_ALIGNED_OPERATOR_NEW
105 * \tparam T Type of the object to create a pcl::shared_ptr of
106 * \tparam Args Types for the arguments to pcl::make_shared
107 * \param args List of arguments with which an instance of T will be constructed
108 * \return pcl::shared_ptr of an instance of type T
109 */
110 template<typename T, typename ... Args>
111 shared_ptr<T> make_shared(Args&&... args);
112
113 #else
114
115 template<typename T, typename ... Args>
make_shared(Args &&...args)116 std::enable_if_t<has_custom_allocator<T>::value, shared_ptr<T>> make_shared(Args&&... args)
117 {
118 return std::allocate_shared<T>(Eigen::aligned_allocator<T>(), std::forward<Args> (args)...);
119 }
120
121 template<typename T, typename ... Args>
make_shared(Args &&...args)122 std::enable_if_t<!has_custom_allocator<T>::value, shared_ptr<T>> make_shared(Args&&... args)
123 {
124 return std::make_shared<T>(std::forward<Args> (args)...);
125 }
126
127 #endif
128 }
129