python: fix return type using new EigenPy features

python/collision-geometries.cc

@@ -144,9 +144,7 @@ void exposeShapes ()
     .def (dv::init<Box>(arg("self")))
     .def (dv::init<Box, FCL_REAL,FCL_REAL,FCL_REAL>(args("self","x","y","z")))
     .def (dv::init<Box, const Vec3f&>(args("self","side")))
-    .def_readwrite("halfSide",
-                   &Box::halfSide,
-                   doxygen::class_attrib_doc<Box>("halfSide"))
+    .DEF_RW_CLASS_ATTRIB(Box,halfSide)
     ;
 
   class_ <Capsule, bases<ShapeBase>, shared_ptr<Capsule> >

python/collision.cc

@@ -104,14 +104,8 @@ void exposeCollisionAPI ()
       .DEF_RO_CLASS_ATTRIB (Contact, o2)
       .DEF_RW_CLASS_ATTRIB (Contact, b1)
       .DEF_RW_CLASS_ATTRIB (Contact, b2)
-      .add_property("normal",
-          make_getter(&Contact::normal, return_value_policy<return_by_value>()),
-          make_setter(&Contact::normal, return_value_policy<return_by_value>()),
-          doxygen::class_attrib_doc<Contact>("normal"))
-      .add_property("pos",
-          make_getter(&Contact::pos, return_value_policy<return_by_value>()),
-          make_setter(&Contact::pos, return_value_policy<return_by_value>()),
-          doxygen::class_attrib_doc<Contact>("pos"))
+      .DEF_RW_CLASS_ATTRIB (Contact, normal)
+      .DEF_RW_CLASS_ATTRIB (Contact, pos)
       .DEF_RW_CLASS_ATTRIB (Contact, penetration_depth)
       .def (self == self)
       .def (self != self)