put some space in templates to make non-compliant c++11 compiler happier

include/tsid/bindings/python/utils/container.hpp

@@ -63,13 +63,13 @@ namespace tsid
         }
     
         inline void append_eq (double num, std::shared_ptr<math::ConstraintEquality> i){
-           m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase>>(num, i));
+           m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, i));
         }
         inline void append_ineq (double num, std::shared_ptr<math::ConstraintInequality> i){
-           m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase>>(num, i));
+           m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, i));
         }
         inline void append_bound (double num, std::shared_ptr<math::ConstraintBound> i){
-           m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase>>(num, i));
+           m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, i));
         }
     private:
         ConstraintLevel m_std_const;

include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp

@@ -150,10 +150,10 @@ namespace tsid
 
     Data m_data;
     HQPData m_hqpData;
-    std::vector<std::shared_ptr<TaskLevel>>     m_taskMotions;
-    std::vector<std::shared_ptr<TaskLevel>>     m_taskContactForces;
-    std::vector<std::shared_ptr<TaskLevel>>     m_taskActuations;
-    std::vector<std::shared_ptr<ContactLevel>>   m_contacts;
+    std::vector<std::shared_ptr<TaskLevel> >     m_taskMotions;
+    std::vector<std::shared_ptr<TaskLevel> >     m_taskContactForces;
+    std::vector<std::shared_ptr<TaskLevel> >     m_taskActuations;
+    std::vector<std::shared_ptr<ContactLevel> >  m_contacts;
     double m_t;         /// time
     unsigned int m_k;   /// number of contact-force variables
     unsigned int m_v;   /// number of acceleration variables
@@ -168,7 +168,7 @@ namespace tsid
     Vector m_f;
     Vector m_tau;
 
-    std::vector<std::shared_ptr<ContactTransitionInfo>> m_contactTransitions;
+    std::vector<std::shared_ptr<ContactTransitionInfo> > m_contactTransitions;
   };
 
 }

include/tsid/solvers/fwd.hpp

@@ -83,8 +83,8 @@ namespace tsid
     { return aligned_pair<T1,T2>(t1,t2); }
     
     
-    typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<math::ConstraintBase>> > ConstraintLevel;
-    typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<const math::ConstraintBase>>> ConstConstraintLevel;
+    typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<math::ConstraintBase> > > ConstraintLevel;
+    typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<const math::ConstraintBase> > > ConstConstraintLevel;
     typedef pinocchio::container::aligned_vector<ConstraintLevel> HQPData;
     typedef pinocchio::container::aligned_vector<ConstConstraintLevel> ConstHQPData;
     

src/formulations/inverse-dynamics-formulation-acc-force.cpp

@@ -55,7 +55,7 @@ InverseDynamicsFormulationAccForce::InverseDynamicsFormulationAccForce(const std
   m_in = 0;
   m_hqpData.resize(2);
   m_Jc.setZero(m_k, m_v);
-  m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(1.0, m_baseDynamics));
+  m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(1.0, m_baseDynamics));
 }
 
 
@@ -116,7 +116,7 @@ void InverseDynamicsFormulationAccForce::addTask(std::shared_ptr<TaskLevel> tl,
   // don't use bounds for now because EiQuadProg doesn't exploit them anyway
 //  else
 //    tl->constraint = new ConstraintBound(c.name(), m_v+m_k);
-  m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase>>(weight, tl->constraint));
+  m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase> >(weight, tl->constraint));
 }
 
 
@@ -202,7 +202,7 @@ bool InverseDynamicsFormulationAccForce::addActuationTask(TaskActuation & task,
       m_in += c.rows();
   }
 
-  m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase>>(weight, tl->constraint));
+  m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase> >(weight, tl->constraint));
 
   return true;
 }
@@ -240,15 +240,15 @@ bool InverseDynamicsFormulationAccForce::addRigidContact(ContactBase & contact,
 
   const ConstraintBase & motionConstr = contact.getMotionConstraint();
   cl->motionConstraint = std::make_shared<ConstraintEquality>(contact.name()+"_motion_task", motionConstr.rows(), m_v+m_k);
-  m_hqpData[motionPriorityLevel].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(motion_weight, cl->motionConstraint));
+  m_hqpData[motionPriorityLevel].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(motion_weight, cl->motionConstraint));
 
   const ConstraintInequality & forceConstr = contact.getForceConstraint();
   cl->forceConstraint = std::make_shared<ConstraintInequality>(contact.name()+"_force_constraint", forceConstr.rows(), m_v+m_k);
-  m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(1.0, cl->forceConstraint));
+  m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(1.0, cl->forceConstraint));
 
   const ConstraintEquality & forceRegConstr = contact.getForceRegularizationTask();
   cl->forceRegTask = std::make_shared<ConstraintEquality>(contact.name()+"_force_reg_task", forceRegConstr.rows(), m_v+m_k);
-  m_hqpData[1].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(force_regularization_weight, cl->forceRegTask));
+  m_hqpData[1].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(force_regularization_weight, cl->forceRegTask));
 
   m_eq += motionConstr.rows();
   m_in += forceConstr.rows();