Cosmetic changes

include/hpp/manipulation/graph/graph-component.hh

@@ -56,7 +56,10 @@ namespace hpp {
           void name(const std::string& name) HPP_MANIPULATION_DEPRECATED;
 
           /// Return the component id.
-	  std::size_t id () const;
+	  const std::size_t& id () const
+          {
+            return id_;
+          }
 
           /// Add core::NumericalConstraint to the component.
           /// \param passiveDofs see ConfigProjector::addNumericalConstraint

src/graph/graph-component.cc

@@ -51,11 +51,6 @@ namespace hpp {
         return components_;
       }
 
-      std::size_t GraphComponent::id () const
-      {
-        return id_;
-      }
-
       std::ostream& GraphComponent::print (std::ostream& os) const
       {
         os << id () << " : " << name ();

src/handle.cc

@@ -82,7 +82,7 @@ namespace hpp {
       std::vector <bool> mask = list_of (true)(true)(true)(true)(true)(true);
       return NumericalConstraintPtr_t
 	(NumericalConstraint::create (RelativeTransformation::create
-				      ("Transformation_(1,1,1,1,1,1)_" + name ()
+				      ("Grasp_(1,1,1,1,1,1)_" + name ()
 				       + "_" + gripper->name (),
 				       gripper->joint()->robot(),
 				       gripper->joint (), joint (),
@@ -97,7 +97,7 @@ namespace hpp {
       return NumericalConstraint::create (
           boost::shared_ptr <ZeroDiffFunc> (new ZeroDiffFunc (
             robot->configSize(), robot->numberDof (),
-            "Transformation_(0,0,0,0,0,0)_" + name () + "_" + gripper->name ()
+            "GraspComp_(0,0,0,0,0,0)_" + name () + "_" + gripper->name ()
             ))
           );
     }
@@ -111,7 +111,7 @@ namespace hpp {
         * Transform3f (fcl::Vec3f (shift,0,0));
       return NumericalConstraintPtr_t
 	(NumericalConstraint::create (RelativeTransformation::create
-				      ("Transformation_(1,1,1,1,1,1)_" + name ()
+				      ("Pregrasp_(1,1,1,1,1,1)_" + name ()
 				       + "_" + gripper->name (),
 				       gripper->joint()->robot(),
 				       gripper->joint (), joint (),