fusion: simplify API

src/multibody/visitor/fusion.hpp

@@ -7,6 +7,8 @@
 
 #define BOOST_FUSION_INVOKE_MAX_ARITY 10
 
+#include "pinocchio/deprecated.hpp"
+
 #include <boost/variant/static_visitor.hpp>
 #include <boost/fusion/include/invoke.hpp>
 #include <boost/fusion/container/generation/make_vector.hpp>
@@ -16,17 +18,64 @@ namespace boost
   namespace fusion
   {
 
-    // Append the element T at the front of boost fusion vector V.
+    /// \brief  Append the element T at the front of boost fusion vector V.
     template<typename T,typename V>
     typename result_of::push_front<V const, T>::type
     append(T const& t,V const& v)
-    { return push_front(v,t); }
+    {
+      return push_front(v,t);
+    }
 
-    // Append the elements T1 and T2 at the front of boost fusion vector V.
+    /// \brief Append the elements T1 and T2 at the front of boost fusion vector V.
+    template<typename T1,typename T2,typename V>
+    typename result_of::push_front<typename result_of::push_front<V const, T2>::type const, T1>::type
+    append(T1 const& t1,T2 const& t2,V const& v)
+    {
+      return push_front(push_front(v,t2),t1);
+    }
+  
+    /// \brief Append the elements T1 and T2 at the front of boost fusion vector V.
+    /// \note This function is now deprecated. Please use the new name append.
     template<typename T1,typename T2,typename V>
+    PINOCCHIO_DEPRECATED
     typename result_of::push_front<typename result_of::push_front<V const, T2>::type const, T1>::type
     append2(T1 const& t1,T2 const& t2,V const& v)
-    { return push_front(push_front(v,t2),t1); }
+    {
+      return append2(t1,t2,v);
+    }
+  
+    /// \brief Append the elements T1, T2 and T3 at the front of boost fusion vector V.
+    template<typename T1,typename T2, typename T3, typename V>
+    typename result_of::push_front<
+    typename result_of::push_front<
+    typename result_of::push_front<V const,T3>::type const,T2>::type const,T1>::type
+    append(T1 const& t1, T2 const& t2, T3 const& t3, V const& v)
+    {
+      return push_front(push_front(push_front(v,t3),t2),t1);
+    }
+    
+    /// \brief Append the elements T1, T2, T3 and T4 at the front of boost fusion vector V.
+    template<typename T1,typename T2, typename T3, typename T4, typename V>
+    typename result_of::push_front<
+    typename result_of::push_front<
+    typename result_of::push_front<
+    typename result_of::push_front<V const,T4>::type const,T3>::type const,T2>::type const,T1>::type
+    append(T1 const& t1, T2 const& t2, T3 const& t3, T4 const& t4, V const& v)
+    {
+      return push_front(push_front(push_front(push_front(v,t4),t3),t2),t1);
+    }
+    
+    /// \brief Append the elements T1, T2, T3, T4 and T5 at the front of boost fusion vector V.
+    template<typename T1,typename T2, typename T3, typename T4, typename T5, typename V>
+    typename result_of::push_front<
+    typename result_of::push_front<
+    typename result_of::push_front<
+    typename result_of::push_front<
+    typename result_of::push_front<V const,T5>::type const,T4>::type const,T3>::type const,T2>::type const,T1>::type
+    append(T1 const& t1, T2 const& t2, T3 const& t3, T4 const& t4, T5 const& t5, V const& v)
+    {
+      return push_front(push_front(push_front(push_front(push_front(v,t5),t4),t3),t2),t1);
+    }
     
   }
 }

src/multibody/visitor/joint-unary-visitor.hpp

@@ -102,9 +102,9 @@ namespace pinocchio
         ReturnType operator()(const JointModelBase<JointModelDerived> & jmodel) const
         {
           return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
-                            bf::append2(boost::ref(jmodel.derived()),
-                                        boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata)),
-                                        args));
+                            bf::append(boost::ref(jmodel.derived()),
+                                       boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata)),
+                                       args));
         }
         
         ReturnType operator()(const JointModelVoid) {return;}
@@ -128,8 +128,7 @@ namespace pinocchio
         {
           return bf::invoke(&JointVisitorDerived::template algo<JointModelDerived>,
                             bf::make_vector(boost::ref(jmodel.derived()),
-                                            boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata)))
-                            );
+                                            boost::ref(boost::ref(boost::get<typename JointModelBase<JointModelDerived>::JointDataDerived >(jdata)))));
         }
         
         JointData & jdata;