From 088561f61717a4501e360175da383ed9f310e627 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Sun, 24 Jul 2016 17:56:55 +0200
Subject: [PATCH] [C++] Set shortname to non static method
---
src/multibody/joint/joint-base.hpp | 1 +
src/multibody/joint/joint-basic-visitors.hxx | 4 ++--
src/multibody/joint/joint-dense.hpp | 2 +-
src/multibody/joint/joint-free-flyer.hpp | 2 +-
src/multibody/joint/joint-planar.hpp | 2 +-
src/multibody/joint/joint-prismatic-unaligned.hpp | 2 +-
src/multibody/joint/joint-prismatic.hpp | 8 ++++----
src/multibody/joint/joint-revolute-unaligned.hpp | 2 +-
src/multibody/joint/joint-revolute-unbounded.hpp | 8 ++++----
src/multibody/joint/joint-revolute.hpp | 8 ++++----
src/multibody/joint/joint-spherical-ZYX.hpp | 2 +-
src/multibody/joint/joint-spherical.hpp | 2 +-
src/multibody/joint/joint-translation.hpp | 2 +-
src/multibody/joint/joint.hpp | 2 +-
unittest/joint.cpp | 8 ++++----
15 files changed, 28 insertions(+), 27 deletions(-)
diff --git a/src/multibody/joint/joint-base.hpp b/src/multibody/joint/joint-base.hpp
index 8f79fb216..8163c4ff9 100644
--- a/src/multibody/joint/joint-base.hpp
+++ b/src/multibody/joint/joint-base.hpp
@@ -366,6 +366,7 @@ namespace se3
const JointIndex & id() const { return i_id; }
void setIndexes(JointIndex id,int q,int v) { i_id = id, i_q = q; i_v = v; }
+ std::string shortname() const { return derived().shortname(); }
/* Acces to dedicated segment in robot config space. */
diff --git a/src/multibody/joint/joint-basic-visitors.hxx b/src/multibody/joint/joint-basic-visitors.hxx
index c0faf57c8..23d253610 100644
--- a/src/multibody/joint/joint-basic-visitors.hxx
+++ b/src/multibody/joint/joint-basic-visitors.hxx
@@ -412,8 +412,8 @@ namespace se3
public:
template<typename D>
- std::string operator()(const JointModelBase<D> &) const
- { return D::shortname(); }
+ std::string operator()(const JointModelBase<D> & jmodel) const
+ { return jmodel.shortname(); }
static std::string run(const JointModelVariant & jmodel)
{ return boost::apply_visitor( JointShortnameVisitor(), jmodel ); }
diff --git a/src/multibody/joint/joint-dense.hpp b/src/multibody/joint/joint-dense.hpp
index 5d970c15b..e848a314a 100644
--- a/src/multibody/joint/joint-dense.hpp
+++ b/src/multibody/joint/joint-dense.hpp
@@ -238,7 +238,7 @@ namespace se3
return *this;
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelDense");
}
diff --git a/src/multibody/joint/joint-free-flyer.hpp b/src/multibody/joint/joint-free-flyer.hpp
index f6786bd90..5dfc0abef 100644
--- a/src/multibody/joint/joint-free-flyer.hpp
+++ b/src/multibody/joint/joint-free-flyer.hpp
@@ -387,7 +387,7 @@ namespace se3
);
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelFreeFlyer");
}
diff --git a/src/multibody/joint/joint-planar.hpp b/src/multibody/joint/joint-planar.hpp
index 4a8e7f35b..30ea28db6 100644
--- a/src/multibody/joint/joint-planar.hpp
+++ b/src/multibody/joint/joint-planar.hpp
@@ -440,7 +440,7 @@ namespace se3
);
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelPlanar");
}
diff --git a/src/multibody/joint/joint-prismatic-unaligned.hpp b/src/multibody/joint/joint-prismatic-unaligned.hpp
index 00d92e14f..b42c9ea52 100644
--- a/src/multibody/joint/joint-prismatic-unaligned.hpp
+++ b/src/multibody/joint/joint-prismatic-unaligned.hpp
@@ -446,7 +446,7 @@ namespace se3
);
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelPrismaticUnaligned");
}
diff --git a/src/multibody/joint/joint-prismatic.hpp b/src/multibody/joint/joint-prismatic.hpp
index 85f167934..0d747ec6f 100644
--- a/src/multibody/joint/joint-prismatic.hpp
+++ b/src/multibody/joint/joint-prismatic.hpp
@@ -501,7 +501,7 @@ namespace se3
);
}
- static const std::string shortname();
+ std::string shortname() const;
template <class D>
bool operator == (const JointModelBase<D> &) const
@@ -522,7 +522,7 @@ namespace se3
typedef JointModelPrismatic<0> JointModelPX;
template<> inline
- const std::string JointModelPrismatic<0>::shortname()
+ std::string JointModelPrismatic<0>::shortname() const
{
return std::string("JointModelPX");
}
@@ -532,7 +532,7 @@ namespace se3
typedef JointModelPrismatic<1> JointModelPY;
template<> inline
- const std::string JointModelPrismatic<1>::shortname()
+ std::string JointModelPrismatic<1>::shortname() const
{
return std::string("JointModelPY");
}
@@ -542,7 +542,7 @@ namespace se3
typedef JointModelPrismatic<2> JointModelPZ;
template<> inline
- const std::string JointModelPrismatic<2>::shortname()
+ std::string JointModelPrismatic<2>::shortname() const
{
return std::string("JointModelPZ");
}
diff --git a/src/multibody/joint/joint-revolute-unaligned.hpp b/src/multibody/joint/joint-revolute-unaligned.hpp
index 448f6522f..bfa8e2ad1 100644
--- a/src/multibody/joint/joint-revolute-unaligned.hpp
+++ b/src/multibody/joint/joint-revolute-unaligned.hpp
@@ -450,7 +450,7 @@ namespace se3
);
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelRevoluteUnaligned");
}
diff --git a/src/multibody/joint/joint-revolute-unbounded.hpp b/src/multibody/joint/joint-revolute-unbounded.hpp
index 344392f10..2052f31db 100644
--- a/src/multibody/joint/joint-revolute-unbounded.hpp
+++ b/src/multibody/joint/joint-revolute-unbounded.hpp
@@ -251,7 +251,7 @@ namespace se3
);
}
- static const std::string shortname();
+ std::string shortname() const;
template <class D>
bool operator == (const JointModelBase<D> &) const
@@ -273,7 +273,7 @@ namespace se3
typedef JointModelRevoluteUnbounded<0> JointModelRUBX;
template<> inline
- const std::string JointModelRevoluteUnbounded<0>::shortname()
+ std::string JointModelRevoluteUnbounded<0>::shortname() const
{
return std::string("JointModelRUBX") ;
}
@@ -283,7 +283,7 @@ namespace se3
typedef JointModelRevoluteUnbounded<1> JointModelRUBY;
template<> inline
- const std::string JointModelRevoluteUnbounded<1>::shortname()
+ std::string JointModelRevoluteUnbounded<1>::shortname() const
{
return std::string("JointModelRUBY") ;
}
@@ -293,7 +293,7 @@ namespace se3
typedef JointModelRevoluteUnbounded<2> JointModelRUBZ;
template<> inline
- const std::string JointModelRevoluteUnbounded<2>::shortname()
+ std::string JointModelRevoluteUnbounded<2>::shortname() const
{
return std::string("JointModelRUBZ") ;
}
diff --git a/src/multibody/joint/joint-revolute.hpp b/src/multibody/joint/joint-revolute.hpp
index 1df83af33..e22cd3f7f 100644
--- a/src/multibody/joint/joint-revolute.hpp
+++ b/src/multibody/joint/joint-revolute.hpp
@@ -535,7 +535,7 @@ namespace se3
);
}
- static const std::string shortname();
+ std::string shortname() const;
template <class D>
bool operator == (const JointModelBase<D> &) const
@@ -557,7 +557,7 @@ namespace se3
typedef JointModelRevolute<0> JointModelRX;
template<> inline
- const std::string JointModelRevolute<0>::shortname()
+ std::string JointModelRevolute<0>::shortname() const
{
return std::string("JointModelRX") ;
}
@@ -567,7 +567,7 @@ namespace se3
typedef JointModelRevolute<1> JointModelRY;
template<> inline
- const std::string JointModelRevolute<1>::shortname()
+ std::string JointModelRevolute<1>::shortname() const
{
return std::string("JointModelRY") ;
}
@@ -577,7 +577,7 @@ namespace se3
typedef JointModelRevolute<2> JointModelRZ;
template<> inline
- const std::string JointModelRevolute<2>::shortname()
+ std::string JointModelRevolute<2>::shortname() const
{
return std::string("JointModelRZ") ;
}
diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/src/multibody/joint/joint-spherical-ZYX.hpp
index 07eed8ee3..6985440d1 100644
--- a/src/multibody/joint/joint-spherical-ZYX.hpp
+++ b/src/multibody/joint/joint-spherical-ZYX.hpp
@@ -467,7 +467,7 @@ namespace se3
);
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelSphericalZYX");
}
diff --git a/src/multibody/joint/joint-spherical.hpp b/src/multibody/joint/joint-spherical.hpp
index df7eaac16..3eb211916 100644
--- a/src/multibody/joint/joint-spherical.hpp
+++ b/src/multibody/joint/joint-spherical.hpp
@@ -412,7 +412,7 @@ namespace se3
);
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelSpherical");
}
diff --git a/src/multibody/joint/joint-translation.hpp b/src/multibody/joint/joint-translation.hpp
index 7bfc7e3af..59a924803 100644
--- a/src/multibody/joint/joint-translation.hpp
+++ b/src/multibody/joint/joint-translation.hpp
@@ -379,7 +379,7 @@ namespace se3
);
}
- static const std::string shortname()
+ std::string shortname() const
{
return std::string("JointModelTranslation");
}
diff --git a/src/multibody/joint/joint.hpp b/src/multibody/joint/joint.hpp
index 104047358..26e6fe8de 100644
--- a/src/multibody/joint/joint.hpp
+++ b/src/multibody/joint/joint.hpp
@@ -160,7 +160,7 @@ namespace se3
JointModel( const JointModelVariant & model_variant ) : JointModelBoostVariant(model_variant)
{}
- const std::string shortname() const
+ std::string shortname() const
{
return ::se3::shortname(*this);
}
diff --git a/unittest/joint.cpp b/unittest/joint.cpp
index 0dd6a2734..af387b59f 100644
--- a/unittest/joint.cpp
+++ b/unittest/joint.cpp
@@ -44,9 +44,9 @@ void test_joint_methods (T & jmodel, typename T::JointDataDerived & jdata)
se3::Inertia::Matrix6 Ia(se3::Inertia::Random().matrix());
bool update_I = false;
- if(T::shortname() == "JointModelRUBX" ||
- T::shortname() == "JointModelRUBY" ||
- T::shortname() == "JointModelRUBZ")
+ if(jmodel.shortname() == "JointModelRUBX" ||
+ jmodel.shortname() == "JointModelRUBY" ||
+ jmodel.shortname() == "JointModelRUBZ")
{
// normalize cos/sin
q1.normalize();
@@ -65,7 +65,7 @@ void test_joint_methods (T & jmodel, typename T::JointDataDerived & jdata)
jma.calc(jda, q1, q1_dot);
jma.calc_aba(jda, Ia, update_I);
- std::string error_prefix("JointModel on " + T::shortname());
+ std::string error_prefix("JointModel on " + jma.shortname());
BOOST_CHECK_MESSAGE(jmodel.nq() == jma.nq() ,std::string(error_prefix + " - nq "));
BOOST_CHECK_MESSAGE(jmodel.nv() == jma.nv() ,std::string(error_prefix + " - nv "));
--
GitLab