[Python] Clean code

bindings/python/module.cpp

 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -23,6 +23,7 @@
 #include <iostream>
 
 namespace bp = boost::python;
+using namespace se3::python;
 
 BOOST_PYTHON_MODULE(libpinocchio_pywrap)
 {
@@ -40,19 +41,20 @@ BOOST_PYTHON_MODULE(libpinocchio_pywrap)
   eigenpy::enableEigenPySpecific<Matrix6x,Matrix6x>();
   eigenpy::enableEigenPySpecific<Matrix3x,Matrix3x>();
 
-  se3::python::exposeSE3();
-  se3::python::exposeForce();
-  se3::python::exposeMotion();
-  se3::python::exposeInertia();
-  se3::python::exposeJoints();
-  se3::python::exposeExplog();
+  exposeSE3();
+  exposeForce();
+  exposeMotion();
+  exposeInertia();
+  exposeJoints();
+  exposeExplog();
 
-  se3::python::exposeModel();
-  se3::python::exposeFrame();
-  se3::python::exposeData();
-  se3::python::exposeGeometry();
+  exposeModel();
+  exposeFrame();
+  exposeData();
+  exposeGeometry();
+  
+  exposeAlgorithms();
+  exposeParsers();
   
-  se3::python::exposeAlgorithms();
-  se3::python::exposeParsers();
 }
  

bindings/python/multibody/geometry-model.hpp

@@ -18,7 +18,6 @@
 #ifndef __se3_python_geometry_model_hpp__
 #define __se3_python_geometry_model_hpp__
 
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 #include <eigenpy/memory.hpp>
 
 #include "pinocchio/bindings/python/utils/eigen_container.hpp"

bindings/python/multibody/geometry-object.hpp

@@ -39,23 +39,23 @@ namespace se3
       void visit(PyClass& cl) const 
       {
         cl
-	   .add_property("meshScale",
-			 bp::make_getter(&GeometryObject::meshScale, bp::return_value_policy<bp::return_by_value>()),
-			 bp::make_setter(&GeometryObject::meshScale),
-			 "Scaling parameter for the mesh")
-	   .add_property("meshColor",
-			 bp::make_getter(&GeometryObject::meshColor, bp::return_value_policy<bp::return_by_value>()),
-			 bp::make_setter(&GeometryObject::meshColor),
-			 "Color rgba for the mesh")
-	   .def_readwrite("name", &GeometryObject::name, "Name of the GeometryObject")
-	   .def_readwrite("parentJoint", &GeometryObject::parentJoint, "Index of the parent joint")
-	   .def_readwrite("parentFrame", &GeometryObject::parentFrame, "Index of the parent frame")
-	   .def_readwrite("placement",&GeometryObject::placement,
-		      		  "Position of geometry object in parent joint's frame")
-	   .def_readonly("meshPath", &GeometryObject::meshPath, "Absolute path to the mesh file")
-	   .def_readonly("overrideMaterial", &GeometryObject::overrideMaterial, "Boolean that tells whether material information is stored in Geometry object")
-	   .def_readonly("meshTexturePath", &GeometryObject::meshTexturePath, "Absolute path to the mesh texture file")
-	   ;
+        .add_property("meshScale",
+                      bp::make_getter(&GeometryObject::meshScale, bp::return_value_policy<bp::return_by_value>()),
+                      bp::make_setter(&GeometryObject::meshScale),
+                      "Scaling parameter for the mesh")
+        .add_property("meshColor",
+                      bp::make_getter(&GeometryObject::meshColor, bp::return_value_policy<bp::return_by_value>()),
+                      bp::make_setter(&GeometryObject::meshColor),
+                      "Color rgba for the mesh")
+        .def_readwrite("name", &GeometryObject::name, "Name of the GeometryObject")
+        .def_readwrite("parentJoint", &GeometryObject::parentJoint, "Index of the parent joint")
+        .def_readwrite("parentFrame", &GeometryObject::parentFrame, "Index of the parent frame")
+        .def_readwrite("placement",&GeometryObject::placement,
+                       "Position of geometry object in parent joint's frame")
+        .def_readonly("meshPath", &GeometryObject::meshPath, "Absolute path to the mesh file")
+        .def_readonly("overrideMaterial", &GeometryObject::overrideMaterial, "Boolean that tells whether material information is stored in Geometry object")
+        .def_readonly("meshTexturePath", &GeometryObject::meshTexturePath, "Absolute path to the mesh texture file")
+        ;
       }
 
       static void expose()