diff --git a/include/eigenpy/copyable.hpp b/include/eigenpy/copyable.hpp
index d91601bd8eeed7adb6af5ba3efe6346c2b3a778c..e1ffc8ab2fc7542509637d38e5868377c9bcb958 100644
--- a/include/eigenpy/copyable.hpp
+++ b/include/eigenpy/copyable.hpp
@@ -7,28 +7,26 @@
#include <boost/python.hpp>
-namespace pinocchio
-{
- namespace python
- {
-
- namespace bp = boost::python;
-
- ///
- /// \brief Add the Python method copy to allow a copy of this by calling the copy constructor.
- ///
- template<class C>
- struct CopyableVisitor
- : public bp::def_visitor< CopyableVisitor<C> >
- {
- template<class PyClass>
- void visit(PyClass & cl) const
- { cl.def("copy",©,bp::arg("self"),"Returns a copy of *this."); }
-
- private:
- static C copy(const C & self) { return C(self); }
- };
- } // namespace python
-} // namespace pinocchio
+namespace pinocchio {
+namespace python {
-#endif // ifndef __pinocchio_python_utils_copyable_hpp__
+namespace bp = boost::python;
+
+///
+/// \brief Add the Python method copy to allow a copy of this by calling the
+/// copy constructor.
+///
+template <class C>
+struct CopyableVisitor : public bp::def_visitor<CopyableVisitor<C> > {
+ template <class PyClass>
+ void visit(PyClass& cl) const {
+ cl.def("copy", ©, bp::arg("self"), "Returns a copy of *this.");
+ }
+
+ private:
+ static C copy(const C& self) { return C(self); }
+};
+} // namespace python
+} // namespace pinocchio
+
+#endif // ifndef __pinocchio_python_utils_copyable_hpp__
diff --git a/include/eigenpy/pickle-vector.hpp b/include/eigenpy/pickle-vector.hpp
index 669a24634540e374897db01575efda69b7110ea5..e12276743196b9d643137cc6db7f0c81ec0ef860 100644
--- a/include/eigenpy/pickle-vector.hpp
+++ b/include/eigenpy/pickle-vector.hpp
@@ -6,46 +6,43 @@
#define __pinocchio_python_utils_pickle_vector_hpp__
#include <boost/python.hpp>
-#include <boost/python/tuple.hpp>
#include <boost/python/stl_iterator.hpp>
+#include <boost/python/tuple.hpp>
-namespace pinocchio
-{
- namespace python
- {
- ///
- /// \brief Create a pickle interface for the std::vector and aligned vector
- ///
- /// \tparam VecType Vector Type to pickle
- ///
- template<typename VecType>
- struct PickleVector : boost::python::pickle_suite
- {
- static boost::python::tuple getinitargs(const VecType&)
- { return boost::python::make_tuple(); }
-
- static boost::python::tuple getstate(boost::python::object op)
- {
- return boost::python::make_tuple(boost::python::list(boost::python::extract<const VecType&>(op)()));
- }
-
- static void setstate(boost::python::object op, boost::python::tuple tup)
- {
- if(boost::python::len(tup) > 0)
- {
- VecType & o = boost::python::extract<VecType&>(op)();
- boost::python::stl_input_iterator<typename VecType::value_type> begin(tup[0]), end;
- while(begin != end)
- {
- o.push_back(*begin);
- ++begin;
- }
- }
+namespace pinocchio {
+namespace python {
+///
+/// \brief Create a pickle interface for the std::vector
+///
+/// \tparam VecType Vector Type to pickle
+///
+template <typename VecType>
+struct PickleVector : boost::python::pickle_suite {
+ static boost::python::tuple getinitargs(const VecType&) {
+ return boost::python::make_tuple();
+ }
+
+ static boost::python::tuple getstate(boost::python::object op) {
+ return boost::python::make_tuple(
+ boost::python::list(boost::python::extract<const VecType&>(op)()));
+ }
+
+ static void setstate(boost::python::object op, boost::python::tuple tup) {
+ if (boost::python::len(tup) > 0) {
+ VecType& o = boost::python::extract<VecType&>(op)();
+ boost::python::stl_input_iterator<typename VecType::value_type> begin(
+ tup[0]),
+ end;
+ while (begin != end) {
+ o.push_back(*begin);
+ ++begin;
}
-
- static bool getstate_manages_dict() { return true; }
- };
+ }
}
-}
-#endif // ifndef __pinocchio_python_utils_pickle_vector_hpp__
+ static bool getstate_manages_dict() { return true; }
+};
+} // namespace python
+} // namespace pinocchio
+
+#endif // ifndef __pinocchio_python_utils_pickle_vector_hpp__
diff --git a/include/eigenpy/std-aligned-vector.hpp b/include/eigenpy/std-aligned-vector.hpp
index 13a28243b4bc8299cb892d830673cb6980129739..70e3279395193b2d7297bce71e51649bd5580a85 100644
--- a/include/eigenpy/std-aligned-vector.hpp
+++ b/include/eigenpy/std-aligned-vector.hpp
@@ -8,77 +8,78 @@
#include <boost/python.hpp>
#include <string>
-#include "pinocchio/container/aligned-vector.hpp"
-
#include "pinocchio/bindings/python/utils/pickle-vector.hpp"
#include "pinocchio/bindings/python/utils/std-vector.hpp"
+#include "pinocchio/container/aligned-vector.hpp"
+
+namespace pinocchio {
+namespace python {
+
+///
+/// \brief Expose an container::aligned_vector from a type given as template
+/// argument.
+///
+/// \tparam T Type to expose as container::aligned_vector<T>.
+/// \tparam EnableFromPythonListConverter Enables the conversion from a Python
+/// list to a container::aligned_vector<T>.
+///
+/// \sa StdAlignedVectorPythonVisitor
+///
+template <class T, bool NoProxy = false,
+ bool EnableFromPythonListConverter = true>
+struct StdAlignedVectorPythonVisitor
+ : public ::boost::python::vector_indexing_suite<
+ typename container::aligned_vector<T>, NoProxy,
+ internal::contains_vector_derived_policies<
+ typename container::aligned_vector<T>, NoProxy> >,
+ public StdContainerFromPythonList<container::aligned_vector<T> > {
+ typedef container::aligned_vector<T> vector_type;
+ typedef StdContainerFromPythonList<vector_type, NoProxy>
+ FromPythonListConverter;
+ typedef T value_type;
-namespace pinocchio
-{
- namespace python
- {
-
- ///
- /// \brief Expose an container::aligned_vector from a type given as template argument.
- ///
- /// \tparam T Type to expose as container::aligned_vector<T>.
- /// \tparam EnableFromPythonListConverter Enables the conversion from a Python list to a container::aligned_vector<T>.
- ///
- /// \sa StdAlignedVectorPythonVisitor
- ///
- template<class T, bool NoProxy = false, bool EnableFromPythonListConverter = true>
- struct StdAlignedVectorPythonVisitor
- : public ::boost::python::vector_indexing_suite<typename container::aligned_vector<T>,NoProxy, internal::contains_vector_derived_policies<typename container::aligned_vector<T>,NoProxy> >
- , public StdContainerFromPythonList< container::aligned_vector<T> >
- {
- typedef container::aligned_vector<T> vector_type;
- typedef StdContainerFromPythonList<vector_type,NoProxy> FromPythonListConverter;
- typedef T value_type;
-
- static void expose(const std::string & class_name,
- const std::string & doc_string = "")
- {
- expose(class_name,doc_string,EmptyPythonVisitor());
- }
-
- template<typename VisitorDerived>
- static void expose(const std::string & class_name,
- const boost::python::def_visitor<VisitorDerived> & visitor)
- {
- expose(class_name,"",visitor);
- }
-
- template<typename VisitorDerived>
- static void expose(const std::string & class_name,
- const std::string & doc_string,
- const boost::python::def_visitor<VisitorDerived> & visitor)
- {
- namespace bp = boost::python;
- if(!register_symbolic_link_to_registered_type<vector_type>())
- {
- bp::class_<vector_type> cl(class_name.c_str(),doc_string.c_str());
- cl
- .def(StdAlignedVectorPythonVisitor())
-
- .def(bp::init<size_t, const value_type &>(bp::args("self","size","value"),"Constructor from a given size and a given value."))
- .def(bp::init<const vector_type &>(bp::args("self","other"),"Copy constructor"))
-
- .def("tolist",&FromPythonListConverter::tolist,bp::arg("self"),
+ static void expose(const std::string &class_name,
+ const std::string &doc_string = "") {
+ expose(class_name, doc_string, EmptyPythonVisitor());
+ }
+
+ template <typename VisitorDerived>
+ static void expose(
+ const std::string &class_name,
+ const boost::python::def_visitor<VisitorDerived> &visitor) {
+ expose(class_name, "", visitor);
+ }
+
+ template <typename VisitorDerived>
+ static void expose(
+ const std::string &class_name, const std::string &doc_string,
+ const boost::python::def_visitor<VisitorDerived> &visitor) {
+ namespace bp = boost::python;
+ if (!register_symbolic_link_to_registered_type<vector_type>()) {
+ bp::class_<vector_type> cl(class_name.c_str(), doc_string.c_str());
+ cl.def(StdAlignedVectorPythonVisitor())
+
+ .def(bp::init<size_t, const value_type &>(
+ bp::args("self", "size", "value"),
+ "Constructor from a given size and a given value."))
+ .def(bp::init<const vector_type &>(bp::args("self", "other"),
+ "Copy constructor"))
+
+ .def("tolist", &FromPythonListConverter::tolist, bp::arg("self"),
"Returns the aligned_vector as a Python list.")
.def(visitor)
#ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
.def_pickle(PickleVector<vector_type>())
#endif
- .def(CopyableVisitor<vector_type>())
- ;
-
- // Register conversion
- if(EnableFromPythonListConverter)
- FromPythonListConverter::register_converter();
- }
- }
- };
- } // namespace python
-} // namespace pinocchio
+ .def(CopyableVisitor<vector_type>());
+
+ // Register conversion
+ if (EnableFromPythonListConverter)
+ FromPythonListConverter::register_converter();
+ }
+ }
+};
+} // namespace python
+} // namespace pinocchio
-#endif // ifndef __pinocchio_python_utils_std_aligned_vector_hpp__
+#endif // ifndef __pinocchio_python_utils_std_aligned_vector_hpp__