From 3ab1888aa33a05419f53bf111d9001b57c60a593 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Mon, 17 Jul 2023 15:46:51 +0200
Subject: [PATCH] use perfect forwarding to add skills with non-default
constructors
---
.../skills/provider/SkillProviderComponentPlugin.h | 14 ++++++--------
1 file changed, 6 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index 6b74dd1e2..ab6c8c466 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -46,16 +46,14 @@ namespace armarx::plugins
void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
void addSkill(std::unique_ptr<skills::Skill>&&);
- template <typename T>
+ template <typename T, typename... Args>
T*
- addSkill()
+ addSkill(Args&&... args)
{
static_assert(std::is_base_of<skills::Skill, T>::value,
"T must be derived from skills::Skill!");
- static_assert(std::is_default_constructible<T>::value,
- "T must be default constructible!");
- auto skill = std::make_unique<T>();
+ auto skill = std::make_unique<T>(std::forward<Args>(args)...);
auto* skillPtr = skill.get();
addSkill(std::move(skill));
return static_cast<T*>(skillPtr);
@@ -111,11 +109,11 @@ namespace armarx
void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
void addSkill(std::unique_ptr<skills::Skill>&&);
- template <typename T>
+ template <typename T, typename... Args>
T*
- addSkill()
+ addSkill(Args&&... args)
{
- return plugin->addSkill<T>();
+ return plugin->addSkill<T>(std::forward<Args>(args)...);
}
private:
--
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