diff --git a/src/multibody/joint/joint-base.hpp b/src/multibody/joint/joint-base.hpp
index 2bb0907e4827a8bfabf106ce87beef684920213e..203d7849ddb1048655c6e4c8abf1b66a440772cf 100644
--- a/src/multibody/joint/joint-base.hpp
+++ b/src/multibody/joint/joint-base.hpp
@@ -378,12 +378,14 @@ namespace se3
;
}
- friend std::ostream & operator << (std::ostream & os, const JointModelBase<Derived> & joint) {
+ friend std::ostream & operator << (std::ostream & os, const JointModelBase<Derived> & joint)
+ {
joint.disp(os);
return os;
}
std::string shortname() const { return derived().shortname(); }
+ static std::string classname() { return Derived::classname(); }
/* Acces to dedicated segment in robot config space. */
@@ -433,6 +435,7 @@ namespace se3
jointCols_impl(Eigen::MatrixBase<D>& A) const { return A.template middleCols<NV>(i_v); }
JointModelDense<NQ, NV> toDense() const { return derived().toDense_impl(); }
+
}; // struct JointModelBase
} // namespace se3
diff --git a/src/multibody/joint/joint-dense.hpp b/src/multibody/joint/joint-dense.hpp
index e848a314a35ada53e78c90a029935acf8ad75498..58eeb95a02bcf6c7b3560a8769daa368653e1654 100644
--- a/src/multibody/joint/joint-dense.hpp
+++ b/src/multibody/joint/joint-dense.hpp
@@ -238,10 +238,8 @@ namespace se3
return *this;
}
- std::string shortname() const
- {
- return std::string("JointModelDense");
- }
+ static std::string classname() { return std::string("JointModelDense"); }
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint-free-flyer.hpp b/src/multibody/joint/joint-free-flyer.hpp
index 5dfc0abef1c0d7d9ba30f8f5c4faa2d20430f48c..5b4f02c2b275919e64d2aa4cca26218ea5bae087 100644
--- a/src/multibody/joint/joint-free-flyer.hpp
+++ b/src/multibody/joint/joint-free-flyer.hpp
@@ -387,10 +387,8 @@ namespace se3
);
}
- std::string shortname() const
- {
- return std::string("JointModelFreeFlyer");
- }
+ static std::string classname() { return std::string("JointModelFreeFlyer"); }
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint-planar.hpp b/src/multibody/joint/joint-planar.hpp
index 30ea28db6673e4b46f025db4bb0f6985376d9a36..2fdda2483176f3a2d0a4332a0420a5fa45fc3d0d 100644
--- a/src/multibody/joint/joint-planar.hpp
+++ b/src/multibody/joint/joint-planar.hpp
@@ -440,10 +440,8 @@ namespace se3
);
}
- std::string shortname() const
- {
- return std::string("JointModelPlanar");
- }
+ static std::string classname() { return std::string("JointModelPlanar");}
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint-prismatic-unaligned.hpp b/src/multibody/joint/joint-prismatic-unaligned.hpp
index b42c9ea521868aa846dc90131cda188b0f346889..d27975c4ba410dcc4f80d81fbcf893b90de4d69e 100644
--- a/src/multibody/joint/joint-prismatic-unaligned.hpp
+++ b/src/multibody/joint/joint-prismatic-unaligned.hpp
@@ -446,10 +446,8 @@ namespace se3
);
}
- std::string shortname() const
- {
- return std::string("JointModelPrismaticUnaligned");
- }
+ static std::string classname() { return std::string("JointModelPrismaticUnaligned"); }
+ std::string shortname() const { return classname(); }
template <class D>
bool operator== (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint-prismatic.hpp b/src/multibody/joint/joint-prismatic.hpp
index 0d747ec6f1045bc9077d1144b4901082e588b6a8..c00b2d1470ef12ae9320978a045bbef8c8001f85 100644
--- a/src/multibody/joint/joint-prismatic.hpp
+++ b/src/multibody/joint/joint-prismatic.hpp
@@ -501,7 +501,8 @@ namespace se3
);
}
- std::string shortname() const;
+ static std::string classname();
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
@@ -522,7 +523,7 @@ namespace se3
typedef JointModelPrismatic<0> JointModelPX;
template<> inline
- std::string JointModelPrismatic<0>::shortname() const
+ std::string JointModelPrismatic<0>::classname()
{
return std::string("JointModelPX");
}
@@ -532,7 +533,7 @@ namespace se3
typedef JointModelPrismatic<1> JointModelPY;
template<> inline
- std::string JointModelPrismatic<1>::shortname() const
+ std::string JointModelPrismatic<1>::classname()
{
return std::string("JointModelPY");
}
@@ -542,7 +543,7 @@ namespace se3
typedef JointModelPrismatic<2> JointModelPZ;
template<> inline
- std::string JointModelPrismatic<2>::shortname() const
+ std::string JointModelPrismatic<2>::classname()
{
return std::string("JointModelPZ");
}
diff --git a/src/multibody/joint/joint-revolute-unaligned.hpp b/src/multibody/joint/joint-revolute-unaligned.hpp
index bfa8e2ad15795834cc1f9337c012b03b3ddd9ec5..de08f861befb8c2117c59285ec3406839a0cd971 100644
--- a/src/multibody/joint/joint-revolute-unaligned.hpp
+++ b/src/multibody/joint/joint-revolute-unaligned.hpp
@@ -450,10 +450,8 @@ namespace se3
);
}
- std::string shortname() const
- {
- return std::string("JointModelRevoluteUnaligned");
- }
+ static std::string classname() { return std::string("JointModelRevoluteUnaligned"); }
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint-revolute-unbounded.hpp b/src/multibody/joint/joint-revolute-unbounded.hpp
index 2052f31db8e3def47197b965962d6b1c3423d742..01f8992e21ff6b44adcdfc2e1dfe559b3d1df79c 100644
--- a/src/multibody/joint/joint-revolute-unbounded.hpp
+++ b/src/multibody/joint/joint-revolute-unbounded.hpp
@@ -251,7 +251,8 @@ namespace se3
);
}
- std::string shortname() const;
+ static std::string classname();
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
@@ -273,7 +274,7 @@ namespace se3
typedef JointModelRevoluteUnbounded<0> JointModelRUBX;
template<> inline
- std::string JointModelRevoluteUnbounded<0>::shortname() const
+ std::string JointModelRevoluteUnbounded<0>::classname()
{
return std::string("JointModelRUBX") ;
}
@@ -283,7 +284,7 @@ namespace se3
typedef JointModelRevoluteUnbounded<1> JointModelRUBY;
template<> inline
- std::string JointModelRevoluteUnbounded<1>::shortname() const
+ std::string JointModelRevoluteUnbounded<1>::classname()
{
return std::string("JointModelRUBY") ;
}
@@ -293,7 +294,7 @@ namespace se3
typedef JointModelRevoluteUnbounded<2> JointModelRUBZ;
template<> inline
- std::string JointModelRevoluteUnbounded<2>::shortname() const
+ std::string JointModelRevoluteUnbounded<2>::classname()
{
return std::string("JointModelRUBZ") ;
}
diff --git a/src/multibody/joint/joint-revolute.hpp b/src/multibody/joint/joint-revolute.hpp
index e22cd3f7f98fa582e7510a609d275065c6f9fa06..d85d2fb11ce7dd43a4b390099a4d12204d4b6a50 100644
--- a/src/multibody/joint/joint-revolute.hpp
+++ b/src/multibody/joint/joint-revolute.hpp
@@ -535,7 +535,8 @@ namespace se3
);
}
- std::string shortname() const;
+ static std::string classname();
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
@@ -557,7 +558,7 @@ namespace se3
typedef JointModelRevolute<0> JointModelRX;
template<> inline
- std::string JointModelRevolute<0>::shortname() const
+ std::string JointModelRevolute<0>::classname()
{
return std::string("JointModelRX") ;
}
@@ -567,7 +568,7 @@ namespace se3
typedef JointModelRevolute<1> JointModelRY;
template<> inline
- std::string JointModelRevolute<1>::shortname() const
+ std::string JointModelRevolute<1>::classname()
{
return std::string("JointModelRY") ;
}
@@ -577,7 +578,7 @@ namespace se3
typedef JointModelRevolute<2> JointModelRZ;
template<> inline
- std::string JointModelRevolute<2>::shortname() const
+ std::string JointModelRevolute<2>::classname()
{
return std::string("JointModelRZ") ;
}
diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/src/multibody/joint/joint-spherical-ZYX.hpp
index 6985440d185c896e1b39cf05cb1f89115b22fa8d..22ba87fabc930e1a066dfd08680068bec3add4c0 100644
--- a/src/multibody/joint/joint-spherical-ZYX.hpp
+++ b/src/multibody/joint/joint-spherical-ZYX.hpp
@@ -467,10 +467,8 @@ namespace se3
);
}
- std::string shortname() const
- {
- return std::string("JointModelSphericalZYX");
- }
+ static std::string classname() { return std::string("JointModelSphericalZYX"); }
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint-spherical.hpp b/src/multibody/joint/joint-spherical.hpp
index 3eb21191655c6bcc6d9f2eb9bfef1ceff14ad0ba..6c30e0f4af0027570d1a27259628fd6176b10055 100644
--- a/src/multibody/joint/joint-spherical.hpp
+++ b/src/multibody/joint/joint-spherical.hpp
@@ -412,10 +412,8 @@ namespace se3
);
}
- std::string shortname() const
- {
- return std::string("JointModelSpherical");
- }
+ static std::string classname() { return std::string("JointModelSpherical"); }
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint-translation.hpp b/src/multibody/joint/joint-translation.hpp
index 59a9248034b861c9b3940d6fd36c4153ecb05e11..182688ae370bf4a9c5323a36b67adf8df7d392ab 100644
--- a/src/multibody/joint/joint-translation.hpp
+++ b/src/multibody/joint/joint-translation.hpp
@@ -379,10 +379,8 @@ namespace se3
);
}
- std::string shortname() const
- {
- return std::string("JointModelTranslation");
- }
+ static std::string classname() { return std::string("JointModelTranslation"); }
+ std::string shortname() const { return classname(); }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/multibody/joint/joint.hpp b/src/multibody/joint/joint.hpp
index 26e6fe8de7818a9da36fdb5e9d2053d02aa8827c..a2e6fb4d0b94443d7d60cf709f83cd5b6736c053 100644
--- a/src/multibody/joint/joint.hpp
+++ b/src/multibody/joint/joint.hpp
@@ -156,14 +156,8 @@ namespace se3
return ::se3::neutralConfiguration(*this);
}
- JointModel() : JointModelBoostVariant() {}
- JointModel( const JointModelVariant & model_variant ) : JointModelBoostVariant(model_variant)
- {}
-
- std::string shortname() const
- {
- return ::se3::shortname(*this);
- }
+ std::string shortname() const { return ::se3::shortname(*this); }
+ static std::string classname() { return "JointModel"; }
template <class D>
bool operator == (const JointModelBase<D> &) const
diff --git a/src/python/joints-variant.hpp b/src/python/joints-variant.hpp
index 21f9a54b4b7f482a90ed27525015ed42a403241d..c949cb51517a7ade61f1f73527e6ec8207530723 100644
--- a/src/python/joints-variant.hpp
+++ b/src/python/joints-variant.hpp
@@ -49,9 +49,8 @@ namespace se3
struct exposer {
template<class T> inline void operator()(T)
{
- expose_constructors<T>(bp::class_<T>(T::shortname().c_str(),bp::init<>()).def(JointPythonVisitor<T >())
- );
- bp::implicitly_convertible<T, se3::JointModelVariant>();
+ expose_constructors<T>(bp::class_<T>(T::classname().c_str(),bp::init<>()).def(JointPythonVisitor<T>()));
+ bp::implicitly_convertible<T,se3::JointModelVariant>();
}