python/all: fix return of Eigen::Matrix using new EigenPy >= 2.2.0 feature

python/collision-geometries.cc

@@ -35,6 +35,7 @@
 #include <boost/python.hpp>
 
 #include <eigenpy/registration.hpp>
+#include <eigenpy/eigen-to-python.hpp>
 
 #include "fcl.hh"
 
@@ -138,10 +139,9 @@ void exposeShapes ()
     .def (dv::init<Box>())
     .def (dv::init<Box, FCL_REAL,FCL_REAL,FCL_REAL>())
     .def (dv::init<Box, const Vec3f&>())
-    .add_property("halfSide",
-                  make_getter(&Box::halfSide, return_value_policy<return_by_value>()),
-                  make_setter(&Box::halfSide, return_value_policy<return_by_value>()),
-                  doxygen::class_attrib_doc<Box>("halfSide"))
+    .def_readwrite("halfSide",
+                   &Box::halfSide,
+                   doxygen::class_attrib_doc<Box>("halfSide"))
     ;
 
   class_ <Capsule, bases<ShapeBase>, shared_ptr<Capsule> >

python/collision.cc

 //
 // Software License Agreement (BSD License)
 //
-//  Copyright (c) 2019 CNRS-LAAS INRIA
+//  Copyright (c) 2019-2020 CNRS-LAAS INRIA
 //  Author: Joseph Mirabel
 //  All rights reserved.
 //
@@ -35,6 +35,7 @@
 #include <boost/python.hpp>
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 
+#include <eigenpy/eigen-to-python.hpp>
 #include <eigenpy/registration.hpp>
 
 #include <hpp/fcl/fwd.hh>

python/distance.cc

@@ -36,6 +36,7 @@
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 
 #include <eigenpy/registration.hpp>
+#include <eigenpy/eigen-to-python.hpp>
 
 #include "fcl.hh"
 
@@ -89,10 +90,7 @@ void exposeDistanceAPI ()
     class_ <DistanceResult> ("DistanceResult",
         doxygen::class_doc<DistanceResult>(), init<>())
       .DEF_RW_CLASS_ATTRIB (DistanceResult, min_distance)
-      .add_property("normal",
-          make_getter(&DistanceResult::normal, return_value_policy<return_by_value>()),
-          make_setter(&DistanceResult::normal, return_value_policy<return_by_value>()),
-          doxygen::class_attrib_doc<DistanceResult>("normal"))
+      .DEF_RW_CLASS_ATTRIB(DistanceResult, normal)
       //.def_readwrite ("nearest_points", &DistanceResult::nearest_points)
       .def("getNearestPoint1",&DistanceRequestWrapper::getNearestPoint1,
           doxygen::class_attrib_doc<DistanceResult>("nearest_points"))