From 360bf7d6389562418133e4c7ab23b89df470b5b8 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 20 Jun 2019 21:57:57 +0200
Subject: [PATCH] all: use this new function to expose types
---
include/eigenpy/angle-axis.hpp | 23 ++++++++++++++++++-----
include/eigenpy/quaternion.hpp | 21 ++++++++++++++++++---
src/angle-axis.cpp | 2 +-
src/quaternion.cpp | 2 +-
4 files changed, 38 insertions(+), 10 deletions(-)
diff --git a/include/eigenpy/angle-axis.hpp b/include/eigenpy/angle-axis.hpp
index b1371237..e7aca37a 100644
--- a/include/eigenpy/angle-axis.hpp
+++ b/include/eigenpy/angle-axis.hpp
@@ -6,20 +6,35 @@
#ifndef __eigenpy_angle_axis_hpp__
#define __eigenpy_angle_axis_hpp__
+#include "eigenpy/fwd.hpp"
+
#include <boost/python.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
-#include "eigenpy/registration.hpp"
-
namespace eigenpy
{
namespace bp = boost::python;
+
+ template<typename AngleAxis> class AngleAxisVisitor;
+
+ namespace internal
+ {
+ template<typename Scalar>
+ struct call_expose< Eigen::AngleAxis<Scalar> >
+ {
+ typedef Eigen::AngleAxis<Scalar> type;
+ static inline void run()
+ {
+ AngleAxisVisitor<type>::expose();
+ }
+ };
+ } // namespace internal
template<typename AngleAxis>
class AngleAxisVisitor
- : public boost::python::def_visitor< AngleAxisVisitor<AngleAxis> >
+ : public bp::def_visitor< AngleAxisVisitor<AngleAxis> >
{
typedef typename AngleAxis::Scalar Scalar;
@@ -103,8 +118,6 @@ namespace eigenpy
static void expose()
{
- if(register_symbolic_link_to_registered_type<AngleAxis>()) return;
-
bp::class_<AngleAxis>("AngleAxis",
"AngleAxis representation of rotations.\n\n",
bp::no_init)
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index ed289d0e..2017d4ea 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -6,6 +6,8 @@
#ifndef __eigenpy_quaternion_hpp__
#define __eigenpy_quaternion_hpp__
+#include "eigenpy/fwd.hpp"
+
#include <Eigen/Core>
#include <Eigen/Geometry>
@@ -27,9 +29,24 @@ namespace eigenpy
namespace bp = boost::python;
+ template<typename QuaternionDerived> class QuaternionVisitor;
+
+ namespace internal
+ {
+ template<typename Scalar, int Options>
+ struct call_expose< Eigen::Quaternion<Scalar,Options> >
+ {
+ typedef Eigen::Quaternion<Scalar,Options> type;
+ static inline void run()
+ {
+ QuaternionVisitor<type>::expose();
+ }
+ };
+ } // namespace internal
+
template<typename Quaternion>
class QuaternionVisitor
- : public boost::python::def_visitor< QuaternionVisitor<Quaternion> >
+ : public bp::def_visitor< QuaternionVisitor<Quaternion> >
{
typedef Eigen::QuaternionBase<Quaternion> QuaternionBase;
@@ -203,8 +220,6 @@ namespace eigenpy
static void expose()
{
- if(register_symbolic_link_to_registered_type<Quaternion>()) return;
-
bp::class_<Quaternion>("Quaternion",
"Quaternion representing rotation.\n\n"
"Supported operations "
diff --git a/src/angle-axis.cpp b/src/angle-axis.cpp
index 56999b9a..f4e33ef0 100644
--- a/src/angle-axis.cpp
+++ b/src/angle-axis.cpp
@@ -13,6 +13,6 @@ namespace eigenpy
{
void exposeAngleAxis()
{
- AngleAxisVisitor<Eigen::AngleAxisd>::expose();
+ expose<Eigen::AngleAxisd>();
}
} // namespace eigenpy
diff --git a/src/quaternion.cpp b/src/quaternion.cpp
index 5690ef44..4ffa866c 100644
--- a/src/quaternion.cpp
+++ b/src/quaternion.cpp
@@ -13,6 +13,6 @@ namespace eigenpy
{
void exposeQuaternion()
{
- QuaternionVisitor<Eigen::Quaterniond>::expose();
+ expose<Eigen::Quaterniond>();
}
} // namespace eigenpy
--
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