Use ImplPtr from ign-utils where relevant (#299)

.github/ci/packages.apt

@@ -1,5 +1,6 @@
 libeigen3-dev
 libignition-cmake2-dev
+libignition-utils1-dev
 python3-distutils
 python3-pybind11
 ruby-dev

CMakeLists.txt

@@ -38,6 +38,11 @@ option(USE_DIST_PACKAGES_FOR_PYTHON
 # Search for project-specific dependencies
 #============================================================================
 
+#--------------------------------------
+# Find ignition-utils
+ign_find_package(ignition-utils1 REQUIRED VERSION 1.0)
+set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
+
 #--------------------------------------
 # Find eigen3
 ign_find_package(

include/ignition/math/AxisAlignedBox.hh

@@ -25,17 +25,14 @@
 #include <ignition/math/MassMatrix3.hh>
 #include <ignition/math/Material.hh>
 #include <ignition/math/Vector3.hh>
+#include <ignition/utils/ImplPtr.hh>
 
 namespace ignition
 {
   namespace math
   {
     // Inline bracket to help doxygen filtering.
     inline namespace IGNITION_MATH_VERSION_NAMESPACE {
-    //
-    // Forward declaration of private data
-    class AxisAlignedBoxPrivate;
-
     /// \class AxisAlignedBox AxisAlignedBox.hh ignition/math/AxisAlignedBox.hh
     /// \brief Mathematical representation of a box that is aligned along
     /// an X,Y,Z axis.
@@ -66,13 +63,6 @@ namespace ignition
       public: AxisAlignedBox(double _vec1X, double _vec1Y, double _vec1Z,
                   double _vec2X, double _vec2Y, double _vec2Z);
 
-      /// \brief Copy Constructor
-      /// \param[in]  _b AxisAlignedBox to copy
-      public: AxisAlignedBox(const AxisAlignedBox &_b);
-
-      /// \brief Destructor
-      public: ~AxisAlignedBox();
-
       /// \brief Get the length along the x dimension
       /// \return Double value of the length in the x dimension
       public: double XLength() const;
@@ -97,11 +87,6 @@ namespace ignition
       /// \param[in]  _box AxisAlignedBox to add to this box
       public: void Merge(const AxisAlignedBox &_box);
 
-      /// \brief Assignment operator. Set this box to the parameter
-      /// \param[in]  _b AxisAlignedBox to copy
-      /// \return The new box.
-      public: AxisAlignedBox &operator=(const AxisAlignedBox &_b);
-
       /// \brief Addition operator. result = this + _b
       /// \param[in] _b AxisAlignedBox to add
       /// \return The new box
@@ -287,7 +272,7 @@ namespace ignition
                    double &_low, double &_high) const;
 
       /// \brief Private data pointer
-      private: AxisAlignedBoxPrivate *dataPtr;
+      IGN_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/ignition/math/Box.hh

@@ -91,13 +91,6 @@ namespace ignition
       public: Box(const Vector3<Precision> &_size,
                   const ignition::math::Material &_mat);
 
-      /// \brief Copy Constructor.
-      /// \param[in]  _b Box to copy.
-      public: Box(const Box<Precision> &_b) = default;
-
-      /// \brief Destructor.
-      public: ~Box() = default;
-
       /// \brief Get the size of the box.
       /// \return Size of the box in meters.
       public: math::Vector3<Precision> Size() const;

include/ignition/math/Cylinder.hh

@@ -67,9 +67,6 @@ namespace ignition
                   const Quaternion<Precision> &_rotOffset =
                   Quaternion<Precision>::Identity);
 
-      /// \brief Destructor
-      public: ~Cylinder() = default;
-
       /// \brief Get the radius in meters.
       /// \return The radius of the cylinder in meters.
       public: Precision Radius() const;

include/ignition/math/DiffDriveOdometry.hh

@@ -18,10 +18,10 @@
 #define IGNITION_MATH_DIFFDRIVEODOMETRY_HH_
 
 #include <chrono>
-#include <memory>
 #include <ignition/math/Angle.hh>
 #include <ignition/math/Export.hh>
 #include <ignition/math/config.hh>
+#include <ignition/utils/ImplPtr.hh>
 
 namespace ignition
 {
@@ -32,10 +32,6 @@ namespace ignition
 
     // Inline bracket to help doxygen filtering.
     inline namespace IGNITION_MATH_VERSION_NAMESPACE {
-    //
-    // Forward declarations.
-    class DiffDriveOdometryPrivate;
-
     /** \class DiffDriveOdometry DiffDriveOdometry.hh \
      * ignition/math/DiffDriveOdometry.hh
      **/
@@ -85,9 +81,6 @@ namespace ignition
       /// velocity mean
       public: explicit DiffDriveOdometry(size_t _windowSize = 10);
 
-      /// \brief Destructor.
-      public: ~DiffDriveOdometry();
-
       /// \brief Initialize the odometry
       /// \param[in] _time Current time.
       public: void Init(const clock::time_point &_time);
@@ -137,17 +130,8 @@ namespace ignition
       /// \param[in] _size The Velocity rolling window size.
       public: void SetVelocityRollingWindowSize(size_t _size);
 
-#ifdef _WIN32
-// Disable warning C4251 which is triggered by
-// std::unique_ptr
-#pragma warning(push)
-#pragma warning(disable: 4251)
-#endif
       /// \brief Private data pointer.
-      private: std::unique_ptr<DiffDriveOdometryPrivate> dataPtr;
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+      IGN_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/ignition/math/Frustum.hh

@@ -22,16 +22,14 @@
 #include <ignition/math/Plane.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/math/config.hh>
+#include <ignition/utils/ImplPtr.hh>
 
 namespace ignition
 {
   namespace math
   {
     // Inline bracket to help doxygen filtering.
     inline namespace IGNITION_MATH_VERSION_NAMESPACE {
-    //
-    // Forward declaration of private data
-    class FrustumPrivate;
 
     /// \brief Mathematical representation of a frustum and related functions.
     /// This is also known as a view frustum.
@@ -86,13 +84,6 @@ namespace ignition
                       double _aspectRatio,
                       const math::Pose3d &_pose = math::Pose3d::Zero);
 
-      /// \brief Copy Constructor
-      /// \param[in] _p Frustum to copy.
-      public: Frustum(const Frustum &_p);
-
-      /// \brief Destructor
-      public: ~Frustum();
-
       /// \brief Get the near distance. This is the distance from the
       /// frustum's vertex to the closest plane.
       /// \return Near distance.
@@ -168,18 +159,12 @@ namespace ignition
       /// \sa Pose
       public: void SetPose(const Pose3d &_pose);
 
-      /// \brief Assignment operator. Set this frustum to the parameter.
-      /// \param[in] _f Frustum to copy
-      /// \return The new frustum.
-      public: Frustum &operator=(const Frustum &_f);
-
       /// \brief Compute the planes of the frustum. This is called whenever
       /// a property of the frustum is changed.
       private: void ComputePlanes();
 
-      /// \internal
       /// \brief Private data pointer
-      private: FrustumPrivate *dataPtr;
+      IGN_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/ignition/math/GaussMarkovProcess.hh

@@ -18,9 +18,9 @@
 #define IGNITION_MATH_GAUSSMARKOVPROCESS_HH_
 
 #include <chrono>
-#include <memory>
 #include <ignition/math/Export.hh>
 #include <ignition/math/config.hh>
+#include <ignition/utils/ImplPtr.hh>
 
 namespace ignition
 {
@@ -31,10 +31,6 @@ namespace ignition
 
     // Inline bracket to help doxygen filtering.
     inline namespace IGNITION_MATH_VERSION_NAMESPACE {
-    //
-    // Forward declarations.
-    class GaussMarkovProcessPrivate;
-
     /** \class GaussMarkovProcess GaussMarkovProcess.hh\
      * ignition/math/GaussMarkovProcess.hh
      **/
@@ -64,9 +60,6 @@ namespace ignition
       public: GaussMarkovProcess(double _start, double _theta, double _mu,
                   double _sigma);
 
-      /// \brief Destructor.
-      public: ~GaussMarkovProcess();
-
       /// \brief Set the process parameters. This will also call Reset().
       /// \param[in] _start The start value of the process.
       /// \param[in] _theta The theta (\f$\theta\f$) parameter.
@@ -135,17 +128,8 @@ namespace ignition
 
       public: double Update(double _dt);
 
-#ifdef _WIN32
-// Disable warning C4251 which is triggered by
-// std::unique_ptr
-#pragma warning(push)
-#pragma warning(disable: 4251)
-#endif
       /// \brief Private data pointer.
-      private: std::unique_ptr<GaussMarkovProcessPrivate> dataPtr;
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+      IGN_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/ignition/math/Kmeans.hh

@@ -22,15 +22,14 @@
 #include <ignition/math/Helpers.hh>
 #include <ignition/math/config.hh>
 
+#include <ignition/utils/ImplPtr.hh>
+
 namespace ignition
 {
   namespace math
   {
     // Inline bracket to help doxygen filtering.
     inline namespace IGNITION_MATH_VERSION_NAMESPACE {
-    //
-    // Forward declare private data
-    class KmeansPrivate;
 
     /// \class Kmeans Kmeans.hh math/gzmath.hh
     /// \brief K-Means clustering algorithm. Given a set of observations,
@@ -43,9 +42,6 @@ namespace ignition
       /// \param[in] _obs Set of observations to cluster.
       public: explicit Kmeans(const std::vector<Vector3d> &_obs);
 
-      /// \brief Destructor.
-      public: virtual ~Kmeans();
-
       /// \brief Get the observations to cluster.
       /// \return The vector of observations.
       public: std::vector<Vector3d> Observations() const;
@@ -80,8 +76,7 @@ namespace ignition
       /// \return The index of the closest centroid to the point _p.
       private: unsigned int ClosestCentroid(const Vector3d &_p) const;
 
-      /// \brief Private data pointer
-      private: KmeansPrivate *dataPtr;
+      IGN_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/ignition/math/Material.hh

@@ -23,15 +23,14 @@
 #include <ignition/math/Export.hh>
 #include <ignition/math/config.hh>
 #include <ignition/math/MaterialType.hh>
+#include <ignition/utils/ImplPtr.hh>
 
 namespace ignition
 {
   namespace math
   {
     // Inline bracket to help doxygen filtering.
     inline namespace IGNITION_MATH_VERSION_NAMESPACE {
-    // Forward declarations
-    class MaterialPrivate;
 
     /// \brief Contains information about a single material.
     ///
@@ -80,18 +79,6 @@ namespace ignition
       /// \param[in] _density Material density.
       public: explicit Material(const double _density);
 
-      /// \brief Copy constructor.
-      /// \param[in] _material Material to copy.
-      public: Material(const Material &_material);
-
-      /// \brief Move constructor.
-      /// \param[in] _material Material to move. The _material object will
-      /// have default values after the move.
-      public: Material(Material &&_material);
-
-      /// \brief Destructor.
-      public: ~Material();
-
       /// \brief Get all the built-in materials.
       /// \return A map of all the materials. The map's key is
       /// material type and the map's value is the material object.
@@ -107,17 +94,6 @@ namespace ignition
                   const double _value,
                   const double _epsilon = std::numeric_limits<double>::max());
 
-      /// \brief Copy operator.
-      /// \param[in] _material Material to copy.
-      /// \return Reference to this material.
-      public: Material &operator=(const Material &_material);
-
-      /// \brief Move operator.
-      /// \param[in] _material Material to move. The _material object will
-      /// contain default values after this move.
-      /// \return Reference to this Material.
-      public: Material &operator=(Material &&_material);
-
       /// \brief Equality operator. This compares type and density values.
       /// \param[in] _material Material to evaluate this object against.
       /// \return True if this material is equal to the given _material.
@@ -158,7 +134,7 @@ namespace ignition
       public: void SetDensity(const double _density);
 
       /// \brief Private data pointer.
-      private: MaterialPrivate *dataPtr = nullptr;
+      IGN_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }