From b948c619ab8537d4ceea7f8f268bd0a5b7b72067 Mon Sep 17 00:00:00 2001
From: Gabriele Buondonno <gbuondon@laas.fr>
Date: Sat, 2 Nov 2019 19:54:44 +0100
Subject: [PATCH] [python] Simplify Box bindings

---
 python/collision-geometries.cc | 15 +++------------
 python/math.cc                 |  3 ---
 2 files changed, 3 insertions(+), 15 deletions(-)

diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
index 7a57def1..7d3b63f9 100644
--- a/python/collision-geometries.cc
+++ b/python/collision-geometries.cc
@@ -103,17 +103,6 @@ struct ConvexWrapper
   }
 };
 
-Eigen::Vector3d getHalfSide(const ::hpp::fcl::Box & box)
-{
-  Eigen::Vector3d halfSide = box.halfSide;
-  return halfSide;
-}
-
-void setHalfSide(::hpp::fcl::Box & box, const Eigen::Vector3d & halfSide)
-{
-  box.halfSide = halfSide;
-}
-
 void exposeShapes ()
 {
   class_ <ShapeBase, bases<CollisionGeometry>, shared_ptr<ShapeBase>, noncopyable>
@@ -125,7 +114,9 @@ void exposeShapes ()
     ("Box", init<>())
     .def (init<FCL_REAL,FCL_REAL,FCL_REAL>())
     .def (init<Vec3f>())
-    .add_property("halfSide", make_function(getHalfSide), make_function(setHalfSide))
+    .add_property("halfSide",
+                  make_getter(&Box::halfSide, return_value_policy<return_by_value>()),
+                  make_setter(&Box::halfSide, return_value_policy<return_by_value>()));
     ;
 
   class_ <Capsule, bases<ShapeBase>, shared_ptr<Capsule> >
diff --git a/python/math.cc b/python/math.cc
index 2edaf360..0b47a345 100644
--- a/python/math.cc
+++ b/python/math.cc
@@ -69,9 +69,6 @@ void exposeMaths ()
   if(!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>())
     eigenpy::exposeAngleAxis();
 
-  eigenpy::enableEigenPySpecific<Matrix3f>();
-  eigenpy::enableEigenPySpecific<Vec3f   >();
-
   class_ <Transform3f> ("Transform3f", init<>())
     .def (init<Matrix3f, Vec3f>())
     .def (init<Quaternion3f, Vec3f>())
-- 
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