[python api] add API for fullBody param 'usePosturalTaskContactCreation'

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -110,6 +110,10 @@ module hpp
     void setPostureWeights(in floatSeq postureWeights)
       raises (Error);
 
+    /// If true, optimize the orientation of all the newly created contact using a postural task
+    void usePosturalTaskContactCreation(in boolean use)
+      raises (Error);
+
     /// set a reference position of the end effector for the given ROM
     void setReferenceEndEffector(in string romName, in floatSeq ref)
       raises (Error);

src/hpp/corbaserver/rbprm/rbprmfullbody.py

@@ -875,6 +875,11 @@ class FullBody (Robot):
      def setPostureWeights(self,postureWeights):
           return self.clientRbprm.rbprm.setPostureWeights(postureWeights)
 
+     ## If true, optimize the orientation of all the newly created contact using a postural task
+     # \param use bool
+     def usePosturalTaskContactCreation(self,use):
+          return self.clientRbprm.rbprm.usePosturalTaskContactCreation(use)
+
       ## return the time at the given state index (in the path computed during the first phase)
       # \param stateId : index of the state
      def getTimeAtState(self,stateId):

src/rbprmbuilder.impl.cc

@@ -651,7 +651,11 @@ namespace hpp {
       device->setEffectorReference(name,config);
     }
 
-
+    void RbprmBuilder::usePosturalTaskContactCreation(const bool usePosturalTaskContactCreation) throw (hpp::Error){
+      if(!fullBodyLoaded_)
+        throw Error ("No full body robot was loaded");
+      fullBody()->usePosturalTaskContactCreation(usePosturalTaskContactCreation);
+    }
 
     void RbprmBuilder::setFilter(const hpp::Names_t& roms) throw (hpp::Error)
     {

src/rbprmbuilder.impl.hh

@@ -198,6 +198,7 @@ namespace hpp {
         void setReferenceConfig(const hpp::floatSeq &referenceConfig) throw (hpp::Error);
         void setPostureWeights(const hpp::floatSeq &postureWeights) throw (hpp::Error);
         void setReferenceEndEffector(const char* romName, const hpp::floatSeq &ref) throw(hpp::Error);
+        void usePosturalTaskContactCreation(const bool usePosturalTaskContactCreation) throw (hpp::Error);
 
         virtual void setFilter(const hpp::Names_t& roms) throw (hpp::Error);
 				virtual void setAffordanceFilter(const char* romName, const hpp::Names_t& affordances) throw (hpp::Error);