Windows compile fix: Be more specific about which AspectWithState to use

[donnyward]

Note: There are other errors that still need to be resolved before /permissive- is no longer needed on Windows.

Using DART (master) in a project on Windows yields the following compile error:

2>C:\...\include\dart/common/AspectWithVersion.hpp(94): error C2974: 'dart::common::detail::AspectWithState': invalid template argument for 'CompositeT', type expected
2>  C:\...\include\dart/common/detail/AspectWithVersion.hpp(53): note: see declaration of 'dart::common::detail::AspectWithState'
2>  C:\...\include\dart/dynamics/EndEffector.hpp(57): note: see reference to class template instantiation 'dart::common::AspectWithStateAndVersionedProperties<dart::dynamics::Support,dart::dynamics::detail::SupportStateData,dart::dynamics::detail::SupportPropertiesData,dart::dynamics::EndEffector,dart::dynamics::detail::SupportUpdate,dart::dynamics::detail::SupportUpdate>' being compiled
2>C:\...\include\dart/common/AspectWithVersion.hpp(94): error C2976: 'dart::common::detail::AspectWithState': too few template arguments
2>  C:\...\include\dart/common/detail/AspectWithVersion.hpp(53): note: see declaration of 'dart::common::detail::AspectWithState'   

This is the same error mentioned in #753.

dart\common\AspectWithVersion.hpp has two symbols for AspectWithState. The first is

dart::common::detail::AspectWithState defined by include:

#include "dart\common\detail\AspectWithVersion.hpp". This takes 5 template arguments.

The second symbol is defined after the above #include as

template <
    class DerivedT,
    typename StateDataT,
    class CompositeT = Composite,
    void (*updateState)(DerivedT*) = &detail::NoOp<DerivedT*> >
using AspectWithState = detail::AspectWithState<
    CompositeTrackingAspect<CompositeT>,
    DerivedT,
    StateDataT,
    CompositeT,
    updateState>;

This version takes 4 template arguments.

The problem is with the following line, Windows is using the first definition of AspectWithState, which is the incorrect version that requires 5 template arguments:

using AspectStateImpl
      = AspectWithState<Derived, StateData, CompositeType, updateState>;

Adding common:: as I've done in the PR distinguishes dart::common::AspectWithState from dart::common::detail::AspectWithState.

Note: This has already been worked around on Windows by compiling with /permissive-, but I think this would still be a good addition to the codebase to make it more robust. Also there are other compile errors that occur without /permissive- that I haven't resolved yet.

---

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[codecov]

Codecov Report

Merging #1528 (27fb6d0) into master (4b0b4dc) will decrease coverage by 0.01%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #1528      +/-   ##
==========================================
- Coverage   58.18%   58.16%   -0.02%     
==========================================
  Files         414      414              
  Lines       30008    30008              
==========================================
- Hits        17459    17453       -6     
- Misses      12549    12555       +6     

Impacted Files	Coverage Δ
dart/common/AspectWithVersion.hpp	42.85% <ø> (ø)
dart/dynamics/EulerJoint.cpp	69.32% <0.00%> (-3.69%)	⬇️

[jslee02]

Good catch! Thanks for fixing this