From 22f4d59113b35b6d19c1ac0083a60b725f4ff2ca Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Tue, 13 Sep 2016 12:07:44 +0200
Subject: [PATCH] [C++][Minor] Added doc for using boost make_recursive_variant
+ minir clean
---
bindings/python/joint.hpp | 2 +-
src/multibody/joint/joint-composite.hpp | 1 -
src/multibody/joint/joint-variant.hpp | 5 +++++
src/multibody/model.hpp | 1 -
src/multibody/visitor.hpp | 10 ----------
5 files changed, 6 insertions(+), 13 deletions(-)
diff --git a/bindings/python/joint.hpp b/bindings/python/joint.hpp
index 9014d720f..094bb7f02 100644
--- a/bindings/python/joint.hpp
+++ b/bindings/python/joint.hpp
@@ -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
{
diff --git a/src/multibody/joint/joint-composite.hpp b/src/multibody/joint/joint-composite.hpp
index 26b7e3ac1..82585752e 100644
--- a/src/multibody/joint/joint-composite.hpp
+++ b/src/multibody/joint/joint-composite.hpp
@@ -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)
diff --git a/src/multibody/joint/joint-variant.hpp b/src/multibody/joint/joint-variant.hpp
index 64fdacff9..b1e2b43c2 100644
--- a/src/multibody/joint/joint-variant.hpp
+++ b/src/multibody/joint/joint-variant.hpp
@@ -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,
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index 38f2a0f2b..6e478a9bc 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -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"
diff --git a/src/multibody/visitor.hpp b/src/multibody/visitor.hpp
index e430fd5ad..d0cce5bb5 100644
--- a/src/multibody/visitor.hpp
+++ b/src/multibody/visitor.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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