Verified Commit 6826f6bc authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: minor renaming

parent 73d64e20
//
// Copyright (c) 2015,2018 CNRS
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
......@@ -51,7 +51,7 @@ namespace pinocchio
JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata,
ArgsTmp args)
{
InternalVisitor<JointModelTpl<Scalar,Options,JointCollectionTpl>,ArgsTmp> visitor(jdata,args);
InternalVisitorModelAndData<JointModelTpl<Scalar,Options,JointCollectionTpl>,ArgsTmp> visitor(jdata,args);
return boost::apply_visitor(visitor,jmodel);
}
......@@ -59,16 +59,16 @@ namespace pinocchio
static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
JointDataTpl<Scalar,Options,JointCollectionTpl> & jdata)
{
InternalVisitor<JointModelTpl<Scalar,Options,JointCollectionTpl>,NoArg> visitor(jdata);
InternalVisitorModelAndData<JointModelTpl<Scalar,Options,JointCollectionTpl>,NoArg> visitor(jdata);
return boost::apply_visitor(visitor,jmodel);
}
template<typename JointModelDerived, typename ArgsTmp>
static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
typename JointModelBase<JointModelDerived>::JointDataDerived & jdata,
typename JointModelBase<JointModelDerived>::JointDataDerived & jdata,
ArgsTmp args)
{
InternalVisitor<JointModelDerived,ArgsTmp> visitor(jdata,args);
InternalVisitorModelAndData<JointModelDerived,ArgsTmp> visitor(jdata,args);
return visitor(jmodel.derived());
}
......@@ -76,7 +76,7 @@ namespace pinocchio
static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
typename JointModelBase<JointModelDerived>::JointDataDerived & jdata)
{
InternalVisitor<JointModelDerived,NoArg> visitor(jdata);
InternalVisitorModelAndData<JointModelDerived,NoArg> visitor(jdata);
return visitor(jmodel.derived());
}
......@@ -84,14 +84,14 @@ namespace pinocchio
static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
ArgsTmp args)
{
ModelOnlyInternalVisitor<ArgsTmp> visitor(args);
InternalVisitorModel<ArgsTmp> visitor(args);
return boost::apply_visitor(visitor,jmodel);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
static ReturnType run(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel)
{
ModelOnlyInternalVisitor<NoArg> visitor;
InternalVisitorModel<NoArg> visitor;
return boost::apply_visitor(visitor,jmodel);
}
......@@ -99,26 +99,26 @@ namespace pinocchio
static ReturnType run(const JointModelBase<JointModelDerived> & jmodel,
ArgsTmp args)
{
ModelOnlyInternalVisitor<ArgsTmp> visitor(args);
InternalVisitorModel<ArgsTmp> visitor(args);
return visitor(jmodel.derived());
}
template<typename JointModelDerived>
static ReturnType run(const JointModelBase<JointModelDerived> & jmodel)
{
ModelOnlyInternalVisitor<NoArg> visitor;
InternalVisitorModel<NoArg> visitor;
return visitor(jmodel.derived());
}
private:
template<typename JointModel, typename ArgType>
struct InternalVisitor
struct InternalVisitorModelAndData
: public boost::static_visitor<ReturnType>
{
typedef typename JointModel::JointDataDerived JointData;
InternalVisitor(JointData & jdata, ArgType args)
InternalVisitorModelAndData(JointData & jdata, ArgType args)
: jdata(jdata), args(args)
{}
......@@ -138,12 +138,12 @@ namespace pinocchio
};
template<typename JointModel>
struct InternalVisitor<JointModel,NoArg>
struct InternalVisitorModelAndData<JointModel,NoArg>
: public boost::static_visitor<ReturnType>
{
typedef typename JointModel::JointDataDerived JointData;
InternalVisitor(JointData & jdata)
InternalVisitorModelAndData(JointData & jdata)
: jdata(jdata)
{}
......@@ -160,9 +160,9 @@ namespace pinocchio
};
template<typename ArgType, typename Dummy = void>
struct ModelOnlyInternalVisitor : public boost::static_visitor<ReturnType>
struct InternalVisitorModel : public boost::static_visitor<ReturnType>
{
ModelOnlyInternalVisitor(ArgType args)
InternalVisitorModel(ArgType args)
: args(args)
{}
......@@ -180,10 +180,10 @@ namespace pinocchio
};
template<typename Dummy>
struct ModelOnlyInternalVisitor<NoArg,Dummy>
struct InternalVisitorModel<NoArg,Dummy>
: public boost::static_visitor<ReturnType>
{
ModelOnlyInternalVisitor() {}
InternalVisitorModel() {}
template<typename JointModelDerived>
ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
......
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