From 88ea5194d86893f583b2cd6f4e4db72aade5688e Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 22 Mar 2016 11:32:14 +0100
Subject: [PATCH] Use Containers class instead of Container
---
include/hpp/manipulation/device.hh | 60 +++++++-----------------------
src/device.cc | 4 +-
2 files changed, 15 insertions(+), 49 deletions(-)
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index ff872cb..e308994 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -34,15 +34,23 @@ namespace hpp {
/// it is compatible with hpp::model::urdf::loadHumanoidRobot
///
/// This class also contains model::Gripper, Handle and \ref JointAndTriangles_t
- class HPP_MANIPULATION_DLLAPI Device : public model::HumanoidRobot,
- protected core::Container <HandlePtr_t>,
- protected core::Container <model::GripperPtr_t>,
- protected core::Container <JointAndShapes_t>,
- protected core::Container <model::JointVector_t>
+ class HPP_MANIPULATION_DLLAPI Device :
+ public model::HumanoidRobot,
+ public core::Containers<
+ boost::mpl::vector < HandlePtr_t,
+ model::GripperPtr_t,
+ JointAndShapes_t,
+ model::JointVector_t> >
{
public:
typedef model::HumanoidRobot Parent_t;
+ typedef core::Containers<
+ boost::mpl::vector < HandlePtr_t,
+ model::GripperPtr_t,
+ JointAndShapes_t,
+ model::JointVector_t> > Containers_t;
+
/// Constructor
/// \param name of the new instance,
static DevicePtr_t create (const std::string& name)
@@ -56,48 +64,6 @@ namespace hpp {
/// Print object in a stream
virtual std::ostream& print (std::ostream& os) const;
- /// \name Accessors to container elements
- /// Contained elements are of type model::Gripper, Handle and
- /// \ref JointAndTriangles_t
- /// \{
-
- /// Get an element of a container
- template <typename Element>
- const Element& get (const std::string& name) const
- {
- return core::Container <Element>::get (name);
- }
-
- /// Check if a Container has a key.
- template <typename Element>
- bool has (const std::string& name) const
- {
- return core::Container <Element>::has (name);
- }
-
- /// Get the keys of a container
- template <typename Element, typename ReturnType>
- ReturnType getKeys () const
- {
- return core::Container <Element>::template getKeys <ReturnType> ();
- }
-
- /// Get the underlying map of a container
- template <typename Element>
- const typename core::Container<Element>::ElementMap_t& getAll () const
- {
- return core::Container <Element>::getAll ();
- }
-
- /// Add an element to a container
- template <typename Element>
- void add (const std::string& name, const Element& element)
- {
- core::Container <Element>::add (name, element);
- }
-
- /// \}
-
/// \name Collisions
/// \{
diff --git a/src/device.cc b/src/device.cc
index c8f320f..36a6b68 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -58,10 +58,10 @@ namespace hpp {
Parent_t::print (os);
// print handles
os << "Handles:" << std::endl;
- Container <HandlePtr_t>::printPointer (os);
+ Containers_t::print <HandlePtr_t> (os);
// print grippers
os << "Grippers:" << std::endl;
- Container <model::GripperPtr_t>::printPointer (os);
+ Containers_t::print <model::GripperPtr_t> (os);
return os;
}
--
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