templatize: pullInterface(dir) -> pullInterface<dir>()

Also remove unused pushInterface(dir)

Author: rhaschke

core/include/moveit/task_constructor/stage_p.h

@@ -100,17 +100,9 @@ class StagePrivate
 	inline InterfaceConstPtr prevEnds() const { return prev_ends_.lock(); }
 	inline InterfaceConstPtr nextStarts() const { return next_starts_.lock(); }
 
-	/// direction-based access to pull/push interfaces
-	inline InterfacePtr& pullInterface(Interface::Direction dir) { return dir == Interface::FORWARD ? starts_ : ends_; }
-	inline InterfacePtr pushInterface(Interface::Direction dir) {
-		return dir == Interface::FORWARD ? next_starts_.lock() : prev_ends_.lock();
-	}
-	inline InterfaceConstPtr pullInterface(Interface::Direction dir) const {
-		return dir == Interface::FORWARD ? starts_ : ends_;
-	}
-	inline InterfaceConstPtr pushInterface(Interface::Direction dir) const {
-		return dir == Interface::FORWARD ? next_starts_.lock() : prev_ends_.lock();
-	}
+	/// direction-based access to pull interface
+	template <Interface::Direction dir>
+	inline InterfacePtr pullInterface();
 
 	/// set parent of stage
 	/// enforce only one parent exists
@@ -204,6 +196,15 @@ class StagePrivate
 PIMPL_FUNCTIONS(Stage)
 std::ostream& operator<<(std::ostream& os, const StagePrivate& stage);
 
+template <>
+inline InterfacePtr StagePrivate::pullInterface<Interface::FORWARD>() {
+	return starts_;
+}
+template <>
+inline InterfacePtr StagePrivate::pullInterface<Interface::BACKWARD>() {
+	return ends_;
+}
+
 template <>
 inline void StagePrivate::send<Interface::FORWARD>(const InterfaceState& start, InterfaceState&& end,
                                                    const SolutionBasePtr& solution) {

core/src/container.cpp

@@ -715,7 +715,7 @@ void ParallelContainerBasePrivate::validateConnectivity() const {
 template <Interface::Direction dir>
 void ParallelContainerBasePrivate::onNewExternalState(Interface::iterator external, bool updated) {
 	for (const Stage::pointer& stage : children())
-		copyState<dir>(external, stage->pimpl()->pullInterface(dir), updated);
+		copyState<dir>(external, stage->pimpl()->pullInterface<dir>(), updated);
 }
 
 ParallelContainerBase::ParallelContainerBase(ParallelContainerBasePrivate* impl) : ContainerBase(impl) {}

core/src/stage.cpp

@@ -713,9 +713,9 @@ ConnectingPrivate::StatePair ConnectingPrivate::make_pair<Interface::FORWARD>(In
 template <Interface::Direction dir>
 void ConnectingPrivate::newState(Interface::iterator it, bool updated) {
 	auto parent_pimpl = parent()->pimpl();
-	Interface::DisableNotify disable_source_interface(*pullInterface(dir));
+	Interface::DisableNotify disable_source_interface(*pullInterface<dir>());
 	if (updated) {
-		if (pullInterface(opposite<dir>())->notifyEnabled())  // suppress recursive loop
+		if (pullInterface<opposite<dir>()>()->notifyEnabled())  // suppress recursive loop
 		{
 			// If status has changed, propagate the update to the opposite side
 			auto status = it->priority().status();
@@ -747,7 +747,7 @@ void ConnectingPrivate::newState(Interface::iterator it, bool updated) {
 		pending.sort();
 	} else {  // new state: insert all pairs with other interface
 		assert(it->priority().enabled());  // new solutions are feasible, aren't they?
-		InterfacePtr other_interface = pullInterface(dir);
+		InterfacePtr other_interface = pullInterface<dir>();
 		bool have_enabled_opposites = false;
 		for (Interface::iterator oit = other_interface->begin(), oend = other_interface->end(); oit != oend; ++oit) {
 			if (!static_cast<Connecting*>(me_)->compatible(*it, *oit))