From 5bd8ef10f7cdbdd47334affdf2f2b92a3674d9c4 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Fri, 8 Nov 2019 11:58:46 +0100
Subject: [PATCH] all: define struct call for common expose
---
include/eigenpy/angle-axis.hpp | 17 +++++++----------
include/eigenpy/expose.hpp | 23 ++++++++++-------------
include/eigenpy/quaternion.hpp | 19 ++++++++-----------
3 files changed, 25 insertions(+), 34 deletions(-)
diff --git a/include/eigenpy/angle-axis.hpp b/include/eigenpy/angle-axis.hpp
index e7aca37a..a9accb94 100644
--- a/include/eigenpy/angle-axis.hpp
+++ b/include/eigenpy/angle-axis.hpp
@@ -19,18 +19,15 @@ namespace eigenpy
template<typename AngleAxis> class AngleAxisVisitor;
- namespace internal
+ template<typename Scalar>
+ struct call< Eigen::AngleAxis<Scalar> >
{
- template<typename Scalar>
- struct call_expose< Eigen::AngleAxis<Scalar> >
+ typedef Eigen::AngleAxis<Scalar> AngleAxis;
+ static inline void expose()
{
- typedef Eigen::AngleAxis<Scalar> type;
- static inline void run()
- {
- AngleAxisVisitor<type>::expose();
- }
- };
- } // namespace internal
+ AngleAxisVisitor<AngleAxis>::expose();
+ }
+ };
template<typename AngleAxis>
class AngleAxisVisitor
diff --git a/include/eigenpy/expose.hpp b/include/eigenpy/expose.hpp
index 24158cd2..9fa8e51b 100644
--- a/include/eigenpy/expose.hpp
+++ b/include/eigenpy/expose.hpp
@@ -1,5 +1,5 @@
/*
- * Copyright 2019, INRIA
+ * Copyright 2019 INRIA
*/
#ifndef __eigenpy_expose_hpp__
@@ -9,18 +9,15 @@
namespace eigenpy
{
- namespace internal
+ ///
+ /// \brief Allows a template specialization.
+ ///
+ template<typename T>
+ struct call
{
- ///
- /// \brief Allows a template specialization.
- ///
- template<typename T>
- struct call_expose
- {
- static inline void run() { T::expose(); }
- };
- } // namespace internal
-
+ static inline void expose() { T::expose(); }
+ };
+
///
/// \brief Call the expose function of a given type T.
///
@@ -28,7 +25,7 @@ namespace eigenpy
inline void expose()
{
if(!register_symbolic_link_to_registered_type<T>())
- internal::call_expose<T>::run();
+ call<T>::expose();
}
}
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 610a0347..e0cd3e62 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -31,19 +31,16 @@ namespace eigenpy
template<typename QuaternionDerived> class QuaternionVisitor;
- namespace internal
+ template<typename Scalar, int Options>
+ struct call< Eigen::Quaternion<Scalar,Options> >
{
- template<typename Scalar, int Options>
- struct call_expose< Eigen::Quaternion<Scalar,Options> >
+ typedef Eigen::Quaternion<Scalar,Options> Quaternion;
+ static inline void expose()
{
- typedef Eigen::Quaternion<Scalar,Options> type;
- static inline void run()
- {
- QuaternionVisitor<type>::expose();
- }
- };
- } // namespace internal
-
+ QuaternionVisitor<Quaternion>::expose();
+ }
+ };
+
template<typename Quaternion>
class QuaternionVisitor
: public bp::def_visitor< QuaternionVisitor<Quaternion> >
--
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