From cbbaf81ab165ced7762c451cc5d1412f6dbb4fea Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 13 May 2020 17:47:09 +0200
Subject: [PATCH] [Minor] Clean code.
---
src/handle.cc | 30 +++++++++++++-----------------
1 file changed, 13 insertions(+), 17 deletions(-)
diff --git a/src/handle.cc b/src/handle.cc
index d909bd16..fe6dc17e 100644
--- a/src/handle.cc
+++ b/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)));
--
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