all: define struct call for common expose

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

include/eigenpy/expose.hpp

 /*
- * 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();
   }
 }
 

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> >