Added fusion test.

unittest/fusion.cpp

+// #include "pinocchio/spatial/fwd.hpp"
+// #include "pinocchio/spatial/se3.hpp"
+// #include "pinocchio/multibody/joint.hpp"
+// #include "pinocchio/multibody/model.hpp"
+
+#include <iostream>
+
+#include "pinocchio/tools/timer.hpp"
+#include <Eigen/Core>
+
+struct TestObj
+{
+  int i;
+  TestObj() : i(0) { std::cout << "Test()" << std::endl; }
+  TestObj(int i) : i(i) { std::cout << "Test(int)" << std::endl; }
+  TestObj(const TestObj& clone) : i(clone.i) { std::cout << "Test(clone)" << std::endl; }
+};
+
+
+template<typename D>
+struct CRTPBase
+{
+  D& derived() { return static_cast<D&> (*this); }
+  const D& derived() const { return static_cast<const D&> (*this); }
+
+  void f() { static_cast<D*>(this)->f(); }
+  int g() { return static_cast<D*>(this)->g(); }
+  int h(const double & x) { return static_cast<D*>(this)->h(x); }
+  int hh(const double & x,const int & y, const Eigen::MatrixXd & z,const TestObj & a) { return static_cast<D*>(this)->hh(x,y,z,a); }
+};
+
+struct CRTPDerived : public CRTPBase<CRTPDerived>
+{
+  void f() { std::cout << "f()" << std::endl; }
+  int g() { std::cout << "g()" << std::endl; return 1; }
+  int h(const double & x) { std::cout << "h(" << x << ")" << std::endl; return 2; }
+  int hh(const double & x,const int & y, const Eigen::MatrixXd & z,const TestObj & ) 
+  { std::cout << "h(" << x << "," << y << "," << z << ",a)" << std::endl; return 3; }
+};
+
+struct CRTPDerived2 : public CRTPBase<CRTPDerived2>
+{
+  void f() { std::cout << "f()" << std::endl; }
+  int g() { std::cout << "g()" << std::endl; return 1; }
+  int h(const double & x) { std::cout << "h(" << x << ")" << std::endl; return 2; }
+  int hh(const double & x,const int & y, const Eigen::MatrixXd & z,const TestObj & ) 
+  { std::cout << "h(" << x << "," << y << "," << z << ",a)" << std::endl; return 3; }
+};
+
+// template<typedef Launcher>
+// struct LauncherBase : public boost::static_visitor<Launcher::ReturnType>
+// {
+//   typedef typename Launcher::ReturnType ReturnType;
+
+//   template<typename D>
+//   ReturnType operator()( const CRTP<D> & crtp )  const 
+//   {
+//     return static_cast<D*>(this)->algo(crtp,
+// 				       static_cast<D*>(this)->args);
+//   }
+
+//   static 
+// };
+
+#include <boost/variant.hpp>
+typedef boost::variant<CRTPDerived,CRTPDerived2> CRTPVariant;
+
+#include <boost/fusion/include/sequence.hpp>
+#include <boost/fusion/include/make_vector.hpp>
+#include <boost/fusion/include/next.hpp>
+#include <boost/fusion/include/invoke.hpp>
+#include <boost/fusion/view/joint_view.hpp>
+#include <boost/fusion/include/joint_view.hpp>
+#include <boost/fusion/algorithm.hpp>
+#include <boost/fusion/container.hpp>
+
+
+using namespace boost::fusion;
+
+
+template<typename D>
+int algo(CRTPBase<D> & crtp, const double & x,const int & y, const Eigen::MatrixXd & z,const TestObj & a) 
+{
+  return crtp.hh(x,y,z,a);
+}
+
+#define CRTP_VARIANT(ReturnType,function)	\
+template<typename Args> \
+struct Launcher : public boost::static_visitor<ReturnType> \
+{ \
+  Args args; \
+  Launcher(Args args) : args(args) {} \
+\
+  template<typename D> \
+  ReturnType operator()( CRTPBase<D> & dref )  const	\
+  { \
+    return invoke(&function<D>,join(make_vector(boost::ref(dref)),args));	\
+  } \
+}; \
+template<typename Args> \
+ReturnType function( CRTPVariant & crtp, Args args ) \
+{ \
+  return boost::apply_visitor( Launcher<Args>(args),crtp );  \
+}
+
+CRTP_VARIANT(int,algo)
+
+
+int main()
+{
+  CRTPDerived d;
+  CRTPBase<CRTPDerived> & dref = d;
+  CRTPVariant v = d;
+
+  algo(v, make_vector(boost::cref(1.0),boost::cref(1),boost::cref(Eigen::MatrixXd::Zero(3,3)),boost::cref(TestObj(1))) );
+
+  return 0;
+}