Revert "Fix usage of explicit instantiation"

This reverts commit 362af03.

Author: olivier-stasse

include/sot/core/feature-pose.hh

@@ -6,8 +6,8 @@
  *
  */
 
-#ifndef __SOT_FEATURE_POSE_HH__
-#define __SOT_FEATURE_POSE_HH__
+#ifndef __SOT_FEATURE_TRANSFORMATION_HH__
+#define __SOT_FEATURE_TRANSFORMATION_HH__
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
@@ -166,13 +166,36 @@ extern template class SOT_CORE_DLLAPI FeaturePose<SE3Representation>;
 extern template class SOT_CORE_DLLAPI FeaturePose<R3xSO3Representation>;
 #endif
 
+} /* namespace sot */
+} /* namespace dynamicgraph */
+
+
+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;
+}
+}
 
-} /* namespace sot */
-} /* namespace dynamicgraph */
 
-#endif // #ifndef __SOT_FEATURE_POSE_HH__
+#endif // #ifndef __SOT_FEATURE_TRANSFORMATION_HH__
 
 /*
  * Local variables:

include/sot/core/feature-pose.hxx

@@ -29,19 +29,7 @@
 
 namespace dynamicgraph {
 namespace sot {
-
-typedef pinocchio::CartesianProductOperation<
-    pinocchio::VectorSpaceOperationTpl<3, double>,
-    pinocchio::SpecialOrthogonalOperationTpl<3, double> >
-    R3xSO3_t;
-typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3_t;
-
-namespace internal {
-template <Representation_t representation> struct LG_t {
-  typedef typename boost::mpl::if_c<representation == SE3Representation, SE3_t,
-                                    R3xSO3_t>::type type;
-};
-}
+namespace dg = dynamicgraph;
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
@@ -154,7 +142,7 @@ Vector7 toVector(const MatrixHomogeneous &M) {
 
 template <Representation_t representation>
 Matrix &FeaturePose<representation>::computeJacobian(Matrix &J, int time) {
-  typedef typename internal::LG_t<representation>::type LieGroup_t;
+  typedef typename LG_t<representation>::type LieGroup_t;
 
   check(*this);
 
@@ -239,7 +227,7 @@ Vector7 &FeaturePose<representation>::computeQfaMfbDes(Vector7 &res, int time) {
 
 template <Representation_t representation>
 Vector &FeaturePose<representation>::computeError(Vector &error, int time) {
-  typedef typename internal::LG_t<representation>::type LieGroup_t;
+  typedef typename LG_t<representation>::type LieGroup_t;
   check(*this);
 
   const Flags &fl = selectionSIN(time);
@@ -259,7 +247,7 @@ Vector &FeaturePose<representation>::computeError(Vector &error, int time) {
 // This function is responsible of converting the input velocity expressed with
 // SE(3) convention onto a velocity expressed with the convention of this
 // feature (R^3xSO(3) or SE(3)), in the right frame.
-template <typename internal::LG_t>
+template <typename LG_t>
 Vector6d convertVelocity(const MatrixHomogeneous &M,
                          const MatrixHomogeneous &Mdes,
                          const Vector &faNufafbDes) {
@@ -282,7 +270,7 @@ Vector6d convertVelocity<R3xSO3_t>(const MatrixHomogeneous &M,
 template <Representation_t representation>
 Vector &FeaturePose<representation>::computeErrorDot(Vector &errordot,
                                                      int time) {
-  typedef typename internal::LG_t<representation>::type LieGroup_t;
+  typedef typename LG_t<representation>::type LieGroup_t;
   check(*this);
 
   errordot.resize(dimensionSOUT(time));

src/feature/feature-pose.cpp

@@ -25,17 +25,36 @@
 
 #include <Eigen/LU>
 
+#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;
 using namespace dynamicgraph::sot;
 
+typedef pinocchio::CartesianProductOperation<
+    pinocchio::VectorSpaceOperationTpl<3, double>,
+    pinocchio::SpecialOrthogonalOperationTpl<3, double> >
+    R3xSO3_t;
+typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3_t;
+
+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;
 template <> DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeaturePose_t, "FeaturePose");
 template <>
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeaturePoseSE3_t, "FeaturePoseSE3");
 
-template class FeaturePose<R3xSO3Representation>;
-template class FeaturePose<SE3Representation>;
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+static const MatrixHomogeneous Id(MatrixHomogeneous::Identity());
+