can't solve error c2280 C++ - c++

Question

i have a c2280 error in c++ and i don't know how to solve it.
here is the code:
#include <iostream>
#include <queue>
#include <deque>
#include "State.h"
#include <assert.h>
#define MAXIMUM_NUMBER_OF_STATES 1000
#define DELTA_Q 0.1
using namespace std;
class RRT
{
private:
float inc_dist;
State start;
State goal;
deque<State> states = deque<State>();
bool goal_is_reached = false;
float RRT::random(float min, float max){
// check if min is less than max , if not then exception is thrown
assert(max >= min);
float range = max - min;
float random;
random = rand() / RAND_MAX;
return (random * (range)) + min;
}
State RRT::randomState(State current_state){
State state = State();
srand(time(0));
while (inStates(state))
{
state.x = random(min(current_state.x, goal.x), max(current_state.x, goal.x));
state.y = random(min(current_state.y, goal.y), max(current_state.y, goal.y));
state.z = random(min(current_state.z, goal.z), max(current_state.z, goal.z));
}
return state;
}
bool RRT::inStates(State state){
for (int i = 0; i < states.size(); i++){
if (states.at(i).x == state.x && states.at(i).y == state.y && states.at(i).z==state.z)
return true;
}
return false;
}
bool RRT::goalTest(State state){
if (state.x == goal.x && state.y == goal.y && state.z == goal.z){
return true;
}
else
return false;
}
void RRT::Successor(State state){
State temp3;
State temp2;
cout <<endl<< "was"<<endl;
if (goalTest(state) || states.size() == MAXIMUM_NUMBER_OF_STATES){
return;
}
getNearistNeighbor(temp3=randomState(state));
cout << "random x: " << temp3.x << " random y: " << temp3.y << " random z: " << temp3.z << endl;
temp2 = State(temp3);
temp2.setFather(state);
states.push_back(temp2);
states.back().setFather(state);
Successor(states.back());
return;
}
State RRT::getNearistNeighbor(State sub_goal_state){
float min_dist = 0, temp;
State desired_state;
for (int i = 0; i < states.size(); i++){
temp = distanceBetweenTwoStates(states.at(i), sub_goal_state);
if (temp < min_dist){
min_dist = temp;
desired_state = State(states.at(i));
}
}
return desired_state;
}
void RRT::generatePath(State state){
cout << endl << "1" << endl;
if (!state.checkIfNull()){
cout << endl << "end" << endl;
return;
cout << endl << "2" << endl;
generatePath(*state.getFather().get());
path.push_back(state);
}
cout << endl << "2" << endl;
generatePath(*state.getFather().get());
path.push_back(state);
return;
}
float RRT::distanceBetweenTwoStates(State state1, State state2){
float x_distance, y_distance, z_distance;
x_distance = sqrt(pow((state1.x - state2.x), 2));
y_distance = sqrt(pow((state1.y - state2.y), 2));
z_distance = sqrt(pow((state1.z - state2.z), 2));
return x_distance + y_distance + z_distance;
}
public:
deque<State> path = deque<State>();
deque<float*> xyzs = deque<float*>();
RRT::RRT(){
}
RRT::RRT(float* starting_point, float* goal_point)
{
start = State(starting_point);
goal= State(goal_point);
states.push_back(start);
}
deque<float*> RRT::getPath(){
Successor(start);
for (int i = 0; i < states.size();i++)
{
if (goalTest(states.at(i))){
goal_is_reached = true;
path.push_back(states.at(i));
break;
}
}
if (goal_is_reached==false){
path.push_back(getNearistNeighbor(goal));
}
State state;
state=State(path.at(0));
path.pop_front();
cout << endl << "x: " << state.x;
cout << endl << "y: " << state.y;
cout << endl << "z: " << state.z << endl;
generatePath(state);
convertToXYZ();
return xyzs;
}
void convertToXYZ(){
State temp;
float* xyz = new float[3];
for (int i = 0; i < path.size(); i++){
temp = path.at(i);
xyz[0] = temp.x;
xyz[1] = temp.y;
xyz[3] = temp.z;
xyzs.push_back(xyz);
}
}
};
here is the code for State.h:
#include <memory>
using namespace std;
class State
{
private:
unique_ptr<State> father;
public:
float x;
float y;
float z;
State(float *xyz){
x = 0;
y = 0;
z = 0;
father = NULL;
}
State(){
x = 0;
y = 0;
z = 0;
father = NULL;
}
State(State& state) : father(new State(*state.father)), x(state.x), y(state.y), z(state.z) {}
State(unique_ptr<State>& state) : father(new State(*state.get())){}
void setFather(State& state){
father.reset(new State(state));
}
unique_ptr<State> getFather(){
unique_ptr<State> temp(new State(*this));
return temp;
}
bool checkIfNull(){
if (father){
return true;
}
else
return false;
}
};
i have been trying to solve this problem but i have not succeed so i need your help guys please help me in solving this.
thanks in advance.
here is the error:
Error 8 error C2280: 'std::unique_ptr<State,std::default_delete<_Ty>> &std::unique_ptr<_Ty,std::default_delete<_Ty>>::operator =(const std::unique_ptr<_Ty,std::default_delete<_Ty>> &)' : attempting to reference a deleted function c:\users\userr\documents\visual studio 2013\projects\devo controller\devo controller\rrt.h 186 1 Devo Controller
again thanks in advance.

Answer 1

unique_ptr<State> getFather(){
unique_ptr<State> temp(new State(*this));
return temp;
}
you can't return unique_ptr . returning a value from function means using the copy constructor. the copy constructor is disabled for unique_ptr. why? because you can't copy a unique_ptr , it's unique! you need to use shared_ptr if many pointers are to point to a specific object. the same goes for the assignment operator ( = ) .
PS. I think it's deprecated to explicitly assign object memory addres to unique_ptr (with new) , the new standard forces you to use std::make_unique in order to assign something to unique_ptr.
also, try googling your error first, you'll be surprised how many answers there are out there