From 7183d4588f856a579c4ebd84230354a09eb66293 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 26 Oct 2017 10:43:57 +0200
Subject: [PATCH] Simplify WaypointEdge::waypoint getter
---
include/hpp/manipulation/graph/edge.hh | 6 ++----
src/graph/edge.cc | 10 +---------
2 files changed, 3 insertions(+), 13 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 43172d27..4a1cc5bf 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -238,10 +238,8 @@ namespace hpp {
virtual bool applyConstraints (ConfigurationIn_t qoffset, ConfigurationOut_t q) const;
- /// Return the inner waypoint.
- /// \param EdgeType is either Edge or WaypointEdge
- template <class EdgeType>
- boost::shared_ptr <EdgeType> waypoint (const std::size_t index) const;
+ /// Return the index-th edge.
+ const EdgePtr_t& waypoint (const std::size_t index) const;
/// Print the object in a stream.
virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index ebad3265..edfa06bb 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -403,20 +403,12 @@ namespace hpp {
edges_[index] = wEdge;
}
- template <>
- EdgePtr_t WaypointEdge::waypoint <Edge> (const std::size_t index) const
+ const EdgePtr_t& WaypointEdge::waypoint (const std::size_t index) const
{
assert (index < edges_.size());
return edges_[index];
}
- template <>
- WaypointEdgePtr_t WaypointEdge::waypoint <WaypointEdge> (const std::size_t index) const
- {
- assert (index < edges_.size());
- return HPP_DYNAMIC_PTR_CAST (WaypointEdge, edges_[index]);
- }
-
std::ostream& WaypointEdge::print (std::ostream& os) const
{
os << "| | |-- ";
--
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