Use ImplPtr, fix rule of 0

include/gz/math/Capsule.hh

@@ -25,9 +25,6 @@ namespace gz
 {
   namespace math
   {
-    // Foward declarations
-    class CapsulePrivate;
-
     // Inline bracket to help doxygen filtering.
     inline namespace GZ_MATH_VERSION_NAMESPACE {
     //

include/gz/math/Cylinder.hh

@@ -26,9 +26,6 @@ namespace gz
 {
   namespace math
   {
-    // Foward declarations
-    class CylinderPrivate;
-
     // Inline bracket to help doxygen filtering.
     inline namespace GZ_MATH_VERSION_NAMESPACE {
     //

include/gz/math/MecanumDriveOdometry.hh

@@ -18,20 +18,18 @@
 #define GZ_MATH_MECANUMDRIVEODOMETRY_HH_
 
 #include <chrono>
-#include <memory>
 #include <gz/math/Angle.hh>
 #include <gz/math/Export.hh>
 #include <gz/math/config.hh>
+#include <gz/utils/ImplPtr.hh>
 
 namespace gz
 {
   namespace math
   {
     // Inline bracket to help doxygen filtering.
     inline namespace GZ_MATH_VERSION_NAMESPACE {
-    // Forward declarations.
-    class MecanumDriveOdometryPrivate;
-
+    //
     /// \class MecanumDriveOdometry MecanumDriveOdometry.hh
     /// gz/math/MecanumDriveOdometry.hh
     ///
@@ -59,9 +57,6 @@ namespace gz
       /// velocity mean
       public: explicit MecanumDriveOdometry(size_t _windowSize = 10);
 
-      /// \brief Destructor.
-      public: ~MecanumDriveOdometry();
-
       /// \brief Initialize the odometry
       /// \param[in] _time Current time.
       public: void Init(const clock::time_point &_time);
@@ -134,18 +129,7 @@ namespace gz
       /// \return Right wheel radius in meters.
       public: double RightWheelRadius() const;
 
-
-#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<MecanumDriveOdometryPrivate> dataPtr;
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+      GZ_UTILS_IMPL_PTR(dataPtr)
     };
     }  // namespace GZ_MATH_VERSION_NAMESPACE
   }  // namespace math

include/gz/math/SpeedLimiter.hh

@@ -19,29 +19,24 @@
 #define GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_
 
 #include <chrono>
-#include <memory>
 #include <gz/math/config.hh>
 #include "gz/math/Helpers.hh"
+#include <gz/utils/ImplPtr.hh>
 
 namespace gz
 {
 namespace math
 {
 // Inline bracket to help doxygen filtering.
 inline namespace GZ_MATH_VERSION_NAMESPACE {
-  // Forward declaration.
-  class SpeedLimiterPrivate;
-
+  //
   /// \brief Class to limit velocity, acceleration and jerk.
   class GZ_MATH_VISIBLE SpeedLimiter
   {
     /// \brief Constructor.
     /// There are no limits by default.
     public: SpeedLimiter();
 
-    /// \brief Destructor.
-    public: ~SpeedLimiter();
-
     /// \brief Set minimum velocity limit in m/s, usually <= 0.
     /// \param[in] _lim Minimum velocity.
     public: void SetMinVelocity(double _lim);
@@ -130,17 +125,7 @@ inline namespace GZ_MATH_VERSION_NAMESPACE {
         double _prevPrevVel,
         std::chrono::steady_clock::duration _dt) const;
 
-#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<SpeedLimiterPrivate> dataPtr;
-#ifdef _WIN32
-#pragma warning(pop)
-#endif
+    GZ_UTILS_IMPL_PTR(dataPtr)
   };
   }
 }

include/gz/math/Sphere.hh

@@ -27,9 +27,6 @@ namespace gz
 {
   namespace math
   {
-    // Foward declarations
-    class SpherePrivate;
-
     // Inline bracket to help doxygen filtering.
     inline namespace GZ_MATH_VERSION_NAMESPACE {
     //

src/MecanumDriveOdometry.cc

@@ -18,16 +18,28 @@
 #include "gz/math/MecanumDriveOdometry.hh"
 #include "gz/math/RollingMean.hh"
 
-using namespace gz;
-using namespace math;
-
 // The implementation was borrowed from: https://github.com/ros-controls/ros_controllers/blob/melodic-devel/diff_drive_controller/src/odometry.cpp
 // And these calculations are based on the following references:
 // https://robohub.org/drive-kinematics-skid-steer-and-mecanum-ros-twist-included
 // https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf
 
-class gz::math::MecanumDriveOdometryPrivate
+namespace gz
+{
+namespace math
+{
+inline namespace GZ_MATH_VERSION_NAMESPACE
 {
+class MecanumDriveOdometry::Implementation
+{
+  /// \brief Constructor.
+  /// \param[in] _windowSize Rolling window size used to compute the
+  /// velocity mean.
+  public: explicit Implementation(size_t _windowSize)
+    : linearMean(_windowSize), lateralMean(_windowSize),
+      angularMean(_windowSize)
+  {
+  }
+
   /// \brief Integrates the pose.
   /// \param[in] _linear Linear velocity.
   /// \param[in] _lateral Lateral velocity.
@@ -51,7 +63,7 @@ class gz::math::MecanumDriveOdometryPrivate
   public: double y{0.0};
 
   /// \brief Current heading in radians.
-  public: Angle heading;
+  public: gz::math::Angle heading;
 
   /// \brief Current linear velocity in meter/second.
   public: double linearVel{0.0};
@@ -60,7 +72,7 @@ class gz::math::MecanumDriveOdometryPrivate
   public: double lateralVel{0.0};
 
   /// \brief Current angular velocity in radians/second.
-  public: Angle angularVel;
+  public: gz::math::Angle angularVel;
 
   /// \brief Left wheel radius in meters.
   public: double leftWheelRadius{0.0};
@@ -87,29 +99,27 @@ class gz::math::MecanumDriveOdometryPrivate
   public: double backRightWheelOldPos{0.0};
 
   /// \brief Rolling mean accumulators for the linear velocity
-  public: RollingMean linearMean;
+  public: gz::math::RollingMean linearMean;
 
   /// \brief Rolling mean accumulators for the lateral velocity
-  public: RollingMean lateralMean;
+  public: gz::math::RollingMean lateralMean;
 
   /// \brief Rolling mean accumulators for the angular velocity
-  public: RollingMean angularMean;
+  public: gz::math::RollingMean angularMean;
 
   /// \brief Initialized flag.
   public: bool initialized{false};
 };
-
-//////////////////////////////////////////////////
-MecanumDriveOdometry::MecanumDriveOdometry(size_t _windowSize)
-  : dataPtr(new MecanumDriveOdometryPrivate)
-{
-  this->dataPtr->linearMean.SetWindowSize(_windowSize);
-  this->dataPtr->lateralMean.SetWindowSize(_windowSize);
-  this->dataPtr->angularMean.SetWindowSize(_windowSize);
+}
+}
 }
 
+using namespace gz;
+using namespace math;
+
 //////////////////////////////////////////////////
-MecanumDriveOdometry::~MecanumDriveOdometry()
+MecanumDriveOdometry::MecanumDriveOdometry(size_t _windowSize)
+  : dataPtr(gz::utils::MakeImpl<Implementation>(_windowSize))
 {
 }
 
@@ -292,7 +302,7 @@ double MecanumDriveOdometry::RightWheelRadius() const
 }
 
 //////////////////////////////////////////////////
-void MecanumDriveOdometryPrivate::IntegrateRungeKutta2(
+void MecanumDriveOdometry::Implementation::IntegrateRungeKutta2(
     double _linear, double _lateral, double _angular)
 {
   const double direction = *this->heading + _angular * 0.5;
@@ -304,7 +314,7 @@ void MecanumDriveOdometryPrivate::IntegrateRungeKutta2(
 }
 
 //////////////////////////////////////////////////
-void MecanumDriveOdometryPrivate::IntegrateExact(double _linear,
+void MecanumDriveOdometry::Implementation::IntegrateExact(double _linear,
   double _lateral, double _angular)
 {
   if (std::fabs(_angular) < 1e-6)

src/SpeedLimiter.cc

@@ -18,11 +18,13 @@
 #include "gz/math/Helpers.hh"
 #include "gz/math/SpeedLimiter.hh"
 
-using namespace gz;
-using namespace math;
-
-/// \brief Private SpeedLimiter data class.
-class gz::math::SpeedLimiterPrivate
+namespace gz
+{
+namespace math
+{
+inline namespace GZ_MATH_VERSION_NAMESPACE
+{
+class SpeedLimiter::Implementation
 {
   /// \brief Minimum velocity limit.
   public: double minVelocity{-std::numeric_limits<double>::infinity()};
@@ -42,16 +44,19 @@ class gz::math::SpeedLimiterPrivate
   /// \brief Maximum jerk limit.
   public: double maxJerk{std::numeric_limits<double>::infinity()};
 };
+}
+}
+}
+
+using namespace gz;
+using namespace math;
 
 //////////////////////////////////////////////////
 SpeedLimiter::SpeedLimiter()
-  : dataPtr(std::make_unique<SpeedLimiterPrivate>())
+  : dataPtr(gz::utils::MakeImpl<Implementation>())
 {
 }
 
-//////////////////////////////////////////////////
-SpeedLimiter::~SpeedLimiter() = default;
-
 //////////////////////////////////////////////////
 void SpeedLimiter::SetMinVelocity(double _lim)
 {