[feature-pose] Reorganize such that feature-pose.hxx is not in feature-pose.hh

include/sot/core/feature-pose.hh

@@ -169,7 +169,31 @@ extern template class SOT_CORE_DLLAPI FeaturePose<R3xSO3Representation>;
 } /* namespace sot */
 } /* namespace dynamicgraph */
 
-#include <sot/core/feature-pose.hxx>
+
+using namespace std;
+using namespace dynamicgraph;
+using namespace dynamicgraph::sot;
+
+typedef pinocchio::CartesianProductOperation<
+    pinocchio::VectorSpaceOperationTpl<3, double>,
+    pinocchio::SpecialOrthogonalOperationTpl<3, double> >
+    R3xSO3_t;
+typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3_t;
+
+namespace dynamicgraph {
+namespace sot {
+namespace dg = dynamicgraph;
+
+template <Representation_t representation> struct LG_t {
+  typedef typename boost::mpl::if_c<representation == SE3Representation, SE3_t,
+                                    R3xSO3_t>::type type;
+};
+
+typedef FeaturePose<R3xSO3Representation> FeaturePose_t;
+typedef FeaturePose<SE3Representation> FeaturePoseSE3_t;
+}
+}
+
 
 #endif // #ifndef __SOT_FEATURE_TRANSFORMATION_HH__
 

include/sot/core/feature-pose.hxx

@@ -27,29 +27,10 @@
 #include <sot/core/factory.hh>
 #include <sot/core/feature-pose.hh>
 
-using namespace std;
-using namespace dynamicgraph;
-using namespace dynamicgraph::sot;
-
-typedef pinocchio::CartesianProductOperation<
-    pinocchio::VectorSpaceOperationTpl<3, double>,
-    pinocchio::SpecialOrthogonalOperationTpl<3, double> >
-    R3xSO3_t;
-typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3_t;
-
 namespace dynamicgraph {
 namespace sot {
 namespace dg = dynamicgraph;
 
-template <Representation_t representation> struct LG_t {
-  typedef typename boost::mpl::if_c<representation == SE3Representation, SE3_t,
-                                    R3xSO3_t>::type type;
-};
-
-typedef FeaturePose<R3xSO3Representation> FeaturePose_t;
-typedef FeaturePose<SE3Representation> FeaturePoseSE3_t;
-
-
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
 /* --------------------------------------------------------------------- */

src/feature/feature-pose.cpp

@@ -28,6 +28,7 @@
 #include <sot/core/debug.hh>
 #include <sot/core/factory.hh>
 #include <sot/core/feature-pose.hh>
+#include <sot/core/feature-pose.hxx>
 
 using namespace std;
 using namespace dynamicgraph;

tests/features/test_feature_generic.cpp

@@ -27,10 +27,12 @@
 
 #include <Eigen/SVD>
 #include <dynamic-graph/linear-algebra.h>
+#include <dynamic-graph/factory.h>
 #include <sot/core/debug.hh>
 #include <sot/core/feature-abstract.hh>
 #include <sot/core/feature-generic.hh>
 #include <sot/core/feature-pose.hh>
+#include <sot/core/feature-pose.hxx>
 #include <sot/core/gain-adaptive.hh>
 #include <sot/core/sot.hh>
 #include <sot/core/task.hh>
@@ -38,6 +40,7 @@
 using namespace std;
 using namespace dynamicgraph::sot;
 using namespace dynamicgraph;
+namespace dg = dynamicgraph;
 
 #define EIGEN_VECTOR_IS_APPROX(Va, Vb, precision)                              \
   BOOST_CHECK_MESSAGE((Va).isApprox(Vb, precision),                            \