python: minor refactoring of Joint exposers

bindings/python/multibody/joint/expose-joints.cpp

@@ -16,11 +16,11 @@ namespace pinocchio
     
     static void exposeVariants()
     {
-      boost::mpl::for_each<JointModelVariant::types>(ModelExposer());
+      boost::mpl::for_each<JointModelVariant::types>(JointModelExposer());
       bp::to_python_converter<pinocchio::JointModelVariant,
                               JointVariantVisitor<pinocchio::JointModelVariant > >();
 
-      boost::mpl::for_each<JointDataVariant::types>(DataExposer());
+      boost::mpl::for_each<JointDataVariant::types>(JointDataExposer());
       bp::to_python_converter<pinocchio::JointDataVariant,
                               JointVariantVisitor<pinocchio::JointDataVariant > >();
     }

bindings/python/multibody/joint/joint-derived.hpp

 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2020 CNRS INRIA
 //
 
-#ifndef __pinocchio_python_joint_dense_hpp__
-#define __pinocchio_python_joint_dense_hpp__
+#ifndef __pinocchio_python_joint_variants_hpp__
+#define __pinocchio_python_joint_variants_hpp__
 
 #include <boost/python.hpp>
 #include <eigenpy/exception.hpp>
@@ -27,27 +27,29 @@ namespace pinocchio
       {
         cl
         // All are add_properties cause ReadOnly
-        .add_property("id",&JointModelDerivedPythonVisitor::getId)
-        .add_property("idx_q",&JointModelDerivedPythonVisitor::getIdx_q)
-        .add_property("idx_v",&JointModelDerivedPythonVisitor::getIdx_v)
-        .add_property("nq",&JointModelDerivedPythonVisitor::getNq)
-        .add_property("nv",&JointModelDerivedPythonVisitor::getNv)
+        .add_property("id",&get_id)
+        .add_property("idx_q",&get_idx_q)
+        .add_property("idx_v",&get_idx_v)
+        .add_property("nq",&get_nq)
+        .add_property("nv",&get_nv)
         .def("setIndexes",&JointModelDerived::setIndexes)
         .def("shortname",&JointModelDerived::shortname)
         ;
       }
 
-      static JointIndex getId( const JointModelDerived & self ) { return self.id(); }
-      static int getIdx_q(const JointModelDerived & self) {return self.idx_q();}
-      static int getIdx_v(const JointModelDerived & self) {return self.idx_v();}
-      static int getNq(const JointModelDerived & self) {return self.nq();}
-      static int getNv(const JointModelDerived & self) {return self.nv();}
-
+      static JointIndex get_id(const JointModelDerived & self)
+      { return self.id(); }
+      static int get_idx_q(const JointModelDerived & self)
+      { return self.idx_q(); }
+      static int get_idx_v(const JointModelDerived & self)
+      { return self.idx_v(); }
+      static int get_nq(const JointModelDerived & self)
+      { return self.nq(); }
+      static int get_nv(const JointModelDerived & self)
+      { return self.nv(); }
 
       static void expose()
-      {
-
-      }
+      {}
 
     };
 
@@ -62,42 +64,37 @@ namespace pinocchio
       {
         cl
           // All are add_properties cause ReadOnly
-          .add_property("S",&JointDataDerivedPythonVisitor::getS)
-          .add_property("M",&JointDataDerivedPythonVisitor::getM)
-          .add_property("v",&JointDataDerivedPythonVisitor::getv)
-          .add_property("c",&JointDataDerivedPythonVisitor::getc)
-          .add_property("U",&JointDataDerivedPythonVisitor::getU)
-          .add_property("Dinv",&JointDataDerivedPythonVisitor::getDinv)
-          .add_property("UDinv",&JointDataDerivedPythonVisitor::getUDinv)
+          .add_property("S",&get_S)
+          .add_property("M",&get_M)
+          .add_property("v",&get_v)
+          .add_property("c",&get_c)
+          .add_property("U",&get_U)
+          .add_property("Dinv",&get_Dinv)
+          .add_property("UDinv",&get_UDinv)
           .def("shortname",&JointDataDerived::shortname)
         ;
       }
 
-      static typename JointDataDerived::Constraint_t getS(const JointDataDerived & self )
+      static typename JointDataDerived::Constraint_t get_S(const JointDataDerived & self)
       { return self.S_accessor(); }
-      static typename JointDataDerived::Transformation_t getM(const JointDataDerived & self )
+      static typename JointDataDerived::Transformation_t get_M(const JointDataDerived & self)
       { return self.M_accessor(); }
-      static typename JointDataDerived::Motion_t getv(const JointDataDerived & self )
+      static typename JointDataDerived::Motion_t get_v(const JointDataDerived & self)
       { return self.v_accessor(); }
-      static typename JointDataDerived::Bias_t getc(const JointDataDerived & self )
+      static typename JointDataDerived::Bias_t get_c(const JointDataDerived & self)
       { return self.c_accessor(); }
-      static typename JointDataDerived::U_t getU(const JointDataDerived & self )
+      static typename JointDataDerived::U_t get_U(const JointDataDerived & self)
       { return self.U_accessor(); }
-      static typename JointDataDerived::D_t getDinv(const JointDataDerived & self )
+      static typename JointDataDerived::D_t get_Dinv(const JointDataDerived & self)
       { return self.Dinv_accessor(); }
-      static typename JointDataDerived::UD_t getUDinv(const JointDataDerived & self )
+      static typename JointDataDerived::UD_t get_UDinv(const JointDataDerived & self)
       { return self.UDinv_accessor(); }
       
       static void expose()
-      {
-
-      }
+      {}
 
     }; 
     
-
-
   }} // namespace pinocchio::python
 
-#endif // ifndef __pinocchio_python_joint_dense_hpp__
-
+#endif // ifndef __pinocchio_python_joint_variants_hpp__

bindings/python/multibody/joint/joints-variant.hpp

@@ -33,7 +33,7 @@ namespace pinocchio
       }
     };
 
-    struct DataExposer
+    struct JointDataExposer
     {
       template<class T>
       void operator()(T)
@@ -49,7 +49,7 @@ namespace pinocchio
       }
     };
 
-    struct ModelExposer
+    struct JointModelExposer
     {
       template<class T>
       void operator()(T)