Use static member function instead of function operator

flexible-collision-library · Aug 9, 2016 · b749c03 · b749c03
1 parent 27cad3d
commit b749c03
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Showing 12 changed files with 231 additions and 285 deletions.
diff --git a/include/fcl/BV/BV_node.h b/include/fcl/BV/BV_node.h
@@ -156,7 +156,7 @@ Vector3<typename BVNode<BV>::Scalar> BVNode<BV>::getCenter() const
 template <typename Scalar, typename BV>
 struct GetOrientationImpl
 {
-  Matrix3<Scalar> operator()(/*const BVNode<BV>& node*/)
+  static Matrix3<Scalar> run(const BVNode<BV>& /*node*/)
   {
     return Matrix3<Scalar>::Identity();
   }
@@ -166,15 +166,14 @@ struct GetOrientationImpl
 template <typename BV>
 Matrix3<typename BV::Scalar> BVNode<BV>::getOrientation() const
 {
-  GetOrientationImpl<typename BV::Scalar, BV> getOrientationImpl;
-  return getOrientationImpl(bv);
+  return GetOrientationImpl<typename BV::Scalar, BV>::run(bv);
 }
 
 //==============================================================================
 template <typename Scalar>
 struct GetOrientationImpl<Scalar, OBB<Scalar>>
 {
-  Matrix3<Scalar> operator()(const OBB<Scalar>& bv)
+  static Matrix3<Scalar> run(const OBB<Scalar>& bv)
   {
     return bv.frame.linear();
   }
@@ -184,7 +183,7 @@ struct GetOrientationImpl<Scalar, OBB<Scalar>>
 template <typename Scalar>
 struct GetOrientationImpl<Scalar, RSS<Scalar>>
 {
-  Matrix3<Scalar> operator()(const RSS<Scalar>& bv)
+  static Matrix3<Scalar> run(const RSS<Scalar>& bv)
   {
     return bv.frame.linear();
   }
@@ -194,7 +193,7 @@ struct GetOrientationImpl<Scalar, RSS<Scalar>>
 template <typename Scalar>
 struct GetOrientationImpl<Scalar, OBBRSS<Scalar>>
 {
-  Matrix3<Scalar> operator()(const OBBRSS<Scalar>& bv)
+  static Matrix3<Scalar> run(const OBBRSS<Scalar>& bv)
   {
     return bv.obb.frame.linear();
   }

diff --git a/include/fcl/BV/kDOP.h b/include/fcl/BV/kDOP.h
@@ -412,7 +412,7 @@ void minmax(Scalar p, Scalar& minv, Scalar& maxv)
 template <typename Scalar, std::size_t N>
 struct GetDistancesImpl
 {
-  void operator()(const Vector3<Scalar>& p, Scalar* d)
+  static void run(const Vector3<Scalar>& /*p*/, Scalar* /*d*/)
   {
     // Do nothing
   }
@@ -422,15 +422,14 @@ struct GetDistancesImpl
 template <typename Scalar, std::size_t N>
 void getDistances(const Vector3<Scalar>& p, Scalar* d)
 {
-  GetDistancesImpl<Scalar, N> getDistancesImpl;
-  getDistancesImpl(p, d);
+  GetDistancesImpl<Scalar, N>::run(p, d);
 }
 
 //==============================================================================
 template <typename Scalar>
 struct GetDistancesImpl<Scalar, 5>
 {
-  void operator()(const Vector3<Scalar>& p, Scalar* d)
+  static void run(const Vector3<Scalar>& p, Scalar* d)
   {
     d[0] = p[0] + p[1];
     d[1] = p[0] + p[2];
@@ -444,7 +443,7 @@ struct GetDistancesImpl<Scalar, 5>
 template <typename Scalar>
 struct GetDistancesImpl<Scalar, 6>
 {
-  void operator()(const Vector3<Scalar>& p, Scalar* d)
+  static void run(const Vector3<Scalar>& p, Scalar* d)
   {
     d[0] = p[0] + p[1];
     d[1] = p[0] + p[2];
@@ -459,7 +458,7 @@ struct GetDistancesImpl<Scalar, 6>
 template <typename Scalar>
 struct GetDistancesImpl<Scalar, 9>
 {
-  void operator()(const Vector3<Scalar>& p, Scalar* d)
+  static void run(const Vector3<Scalar>& p, Scalar* d)
   {
     d[0] = p[0] + p[1];
     d[1] = p[0] + p[2];

diff --git a/include/fcl/BVH/BVH_model.h b/include/fcl/BVH/BVH_model.h
@@ -378,7 +378,7 @@ OBJECT_TYPE BVHModel<BV>::getObjectType() const
 template <typename BV>
 struct GetNodeTypeImpl
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_UNKNOWN;
   }
@@ -388,8 +388,7 @@ struct GetNodeTypeImpl
 template <typename BV>
 NODE_TYPE BVHModel<BV>::getNodeType() const
 {
-  GetNodeTypeImpl<BV> getNodeTypeImpl;
-  return getNodeTypeImpl();
+  return GetNodeTypeImpl<BV>::run();
 }
 
 //==============================================================================
@@ -1205,7 +1204,7 @@ int BVHModel<BV>::recursiveRefitTree_bottomup(int bv_id)
 template <typename Scalar, typename BV>
 struct MakeParentRelativeRecurseImpl
 {
-  void operator()(BVHModel<BV>& model,
+  static void run(BVHModel<BV>& model,
                   int bv_id,
                   const Matrix3<Scalar>& parent_axis,
                   const Vector3<Scalar>& parent_c)
@@ -1230,8 +1229,8 @@ void BVHModel<BV>::makeParentRelativeRecurse(
     const Matrix3<Scalar>& parent_axis,
     const Vector3<Scalar>& parent_c)
 {
-  MakeParentRelativeRecurseImpl<typename BV::Scalar, BV> tmp;
-  tmp(*this, bv_id, parent_axis, parent_c);
+  MakeParentRelativeRecurseImpl<typename BV::Scalar, BV>::run(
+        *this, bv_id, parent_axis, parent_c);
 }
 
 //==============================================================================
@@ -1278,7 +1277,7 @@ void BVHModel<BV>::computeLocalAABB()
 template <typename Scalar>
 struct MakeParentRelativeRecurseImpl<Scalar, OBB<Scalar>>
 {
-  void operator()(BVHModel<OBB<Scalar>>& model,
+  static void run(BVHModel<OBB<Scalar>>& model,
                   int bv_id,
                   const Matrix3<Scalar>& parent_axis,
                   const Vector3<Scalar>& parent_c)
@@ -1303,7 +1302,7 @@ struct MakeParentRelativeRecurseImpl<Scalar, OBB<Scalar>>
 template <typename Scalar>
 struct MakeParentRelativeRecurseImpl<Scalar, RSS<Scalar>>
 {
-  void operator()(BVHModel<RSS<Scalar>>& model,
+  static void run(BVHModel<RSS<Scalar>>& model,
                   int bv_id,
                   const Matrix3<Scalar>& parent_axis,
                   const Vector3<Scalar>& parent_c)
@@ -1328,7 +1327,7 @@ struct MakeParentRelativeRecurseImpl<Scalar, RSS<Scalar>>
 template <typename Scalar>
 struct MakeParentRelativeRecurseImpl<Scalar, OBBRSS<Scalar>>
 {
-  void operator()(BVHModel<OBBRSS<Scalar>>& model,
+  static void run(BVHModel<OBBRSS<Scalar>>& model,
                   int bv_id,
                   const Matrix3<Scalar>& parent_axis,
                   const Vector3<Scalar>& parent_c)
@@ -1357,7 +1356,7 @@ struct MakeParentRelativeRecurseImpl<Scalar, OBBRSS<Scalar>>
 template <typename Scalar>
 struct GetNodeTypeImpl<AABB<Scalar>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_AABB;
   }
@@ -1367,7 +1366,7 @@ struct GetNodeTypeImpl<AABB<Scalar>>
 template <typename Scalar>
 struct GetNodeTypeImpl<OBB<Scalar>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_OBB;
   }
@@ -1377,7 +1376,7 @@ struct GetNodeTypeImpl<OBB<Scalar>>
 template <typename Scalar>
 struct GetNodeTypeImpl<RSS<Scalar>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_RSS;
   }
@@ -1387,7 +1386,7 @@ struct GetNodeTypeImpl<RSS<Scalar>>
 template <typename Scalar>
 struct GetNodeTypeImpl<kIOS<Scalar>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_kIOS;
   }
@@ -1397,7 +1396,7 @@ struct GetNodeTypeImpl<kIOS<Scalar>>
 template <typename Scalar>
 struct GetNodeTypeImpl<OBBRSS<Scalar>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_OBBRSS;
   }
@@ -1407,7 +1406,7 @@ struct GetNodeTypeImpl<OBBRSS<Scalar>>
 template <typename Scalar>
 struct GetNodeTypeImpl<KDOP<Scalar, 16>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_KDOP16;
   }
@@ -1417,7 +1416,7 @@ struct GetNodeTypeImpl<KDOP<Scalar, 16>>
 template <typename Scalar>
 struct GetNodeTypeImpl<KDOP<Scalar, 18>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_KDOP18;
   }
@@ -1427,7 +1426,7 @@ struct GetNodeTypeImpl<KDOP<Scalar, 18>>
 template <typename Scalar>
 struct GetNodeTypeImpl<KDOP<Scalar, 24>>
 {
-  NODE_TYPE operator()()
+  static NODE_TYPE run()
   {
     return BV_KDOP24;
   }