[Minor] Clean code.

src/handle.cc

@@ -32,6 +32,7 @@
 #include <hpp/constraints/generic-transformation.hh>
 #include <hpp/constraints/implicit.hh>
 #include <hpp/constraints/explicit/relative-pose.hh>
+#include <hpp/constraints/generic-transformation.hh>
 
 #include <hpp/manipulation/device.hh>
 
@@ -41,11 +42,13 @@ namespace hpp {
     using constraints::ImplicitPtr_t;
     using constraints::Explicit;
     using constraints::ExplicitPtr_t;
+    using constraints::DifferentiableFunction;
+
     std::string Handle::className ("Handle");
     namespace {
       static const matrix3_t I3 = matrix3_t::Identity();
 
-      struct ZeroDiffFunc : public constraints::DifferentiableFunction {
+      struct ZeroDiffFunc : public DifferentiableFunction {
         ZeroDiffFunc (size_type sIn, size_type sInD,
             std::string name=std::string("Empty function"))
           : DifferentiableFunction (sIn, sInD, LiegroupSpace::empty (), name)
@@ -58,9 +61,6 @@ namespace hpp {
       };
     }
 
-    using constraints::Explicit;
-    using constraints::DifferentiableFunction;
-
     bool isHandleOnFreeflyer (const Handle& handle)
     {
       const JointPtr_t& joint = handle.joint();
@@ -132,11 +132,9 @@ namespace hpp {
 	   gripper->objectPositionInJoint (), localPosition(),
            mask_, ComparisonTypes_t (6, constraints::EqualToZero));
       }
-      return constraints::Implicit::create
-        (constraints::RelativeTransformation::create
+      return Implicit::create (RelativeTransformation::create
          (n, robot (), gripper->joint (), joint (),
-          gripper->objectPositionInJoint (), localPosition(),
-          mask_),
+          gripper->objectPositionInJoint (), localPosition(), mask_),
          ComparisonTypes_t (maskSize (mask_), constraints::EqualToZero));
     }
 
@@ -156,8 +154,7 @@ namespace hpp {
             );
       } else {
         std::vector<bool> Cmask = complementMask(mask_);
-        return  Implicit::create
-          (constraints::RelativeTransformation::create
+        return  Implicit::create (RelativeTransformation::create
            (n, r, gripper->joint (), joint (),
             gripper->objectPositionInJoint (), localPosition(),
             Cmask),
@@ -190,24 +187,23 @@ namespace hpp {
 	   gripper->objectPositionInJoint (), localPosition(),
            std::vector <bool> (6, true), comp);
       }
-      return Implicit::create
-        (constraints::RelativeTransformation::create
+      return Implicit::create (RelativeTransformation::create
          (n, robot (), gripper->joint (), joint (),
           gripper->objectPositionInJoint (), localPosition(),
-          std::vector <bool> (6, true)), comp);
+          std::vector <bool> (6, true)),
+         comp);
     }
 
     ImplicitPtr_t Handle::createPreGrasp
     (const GripperPtr_t& gripper, const value_type& shift, std::string n) const
     {
-      Transform3f transform = gripper->objectPositionInJoint ()
+      Transform3f M = gripper->objectPositionInJoint ()
         * Transform3f (I3, vector3_t (shift,0,0));
       if (n.empty())
         n = "Pregrasp_ " + maskToStr(mask_) + "_" + name ()
           + "_" + gripper->name ();
-      ImplicitPtr_t result
-        (Implicit::create
-         (constraints::RelativeTransformation::create
+      ImplicitPtr_t result (Implicit::create
+         (RelativeTransformation::create
           (n, robot(), gripper->joint (), joint (),
            transform, localPosition(), mask_),
           ComparisonTypes_t(maskSize (mask_), constraints::EqualToZero)));