Commit 22f4d591 authored by Valenza Florian's avatar Valenza Florian
Browse files

[C++][Minor] Added doc for using boost make_recursive_variant + minir clean

parent 24409b42
......@@ -20,7 +20,7 @@
#include <eigenpy/exception.hpp>
#include <eigenpy/eigenpy.hpp>
#include "pinocchio/multibody/joint/joint.hpp"
#include "pinocchio/multibody/joint/joint-composite.hpp"
namespace se3
{
......
......@@ -19,7 +19,6 @@
#define __se3_joint_composite_hpp__
#include "pinocchio/assert.hpp"
// #include "pinocchio/multibody/joint/joint-basic-visitors.hpp"
#include "pinocchio/multibody/joint/joint.hpp"
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::SE3)
......
......@@ -42,6 +42,11 @@ namespace se3
struct JointModelComposite;
struct JointDataComposite;
// The JointModelComposite contains several JointModel (which are JointModelVariant). Hence there is a circular
// dependency between JointModelComposite and JointModelVariant that can be resolved with the use of boost::recursive_variant
// For more details, see http://www.boost.org/doc/libs/1_58_0/doc/html/variant/tutorial.html#variant.tutorial.recursive
//
// The same applies for JointDataComposite
typedef boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical,
JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ,
JointModelPrismaticUnaligned, JointModelFreeFlyer, JointModelPlanar, JointModelTranslation,
......
......@@ -26,7 +26,6 @@
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/frame.hpp"
// #include "pinocchio/multibody/joint/joint.hpp"
#include "pinocchio/multibody/joint/joint-composite.hpp"
#include "pinocchio/deprecated.hh"
#include "pinocchio/tools/string-generator.hpp"
......
......@@ -61,16 +61,6 @@ namespace se3
static_cast<const Visitor*>(this)->args));
}
// void operator() (const JointModelBase<JointModelComposite> & jmodel) const
// {
// JointDataVariant& jdataSpec = static_cast<const Visitor*>(this)->jdata;
// bf::invoke(&Visitor::template algo<JointModelComposite>,
// bf::append2(jmodel,
// boost::ref(boost::get<JointDataComposite>(jdataSpec)),
// static_cast<const Visitor*>(this)->args));
// }
template<typename ArgsTmp>
static void run(const JointModelVariant & jmodel,
JointDataVariant & jdata,
......
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