[Python] Add copyable method to create a raw copy of Spatial classes

bindings/python/CMakeLists.txt

@@ -63,6 +63,7 @@ SET(${PYWRAP}_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${PROJECT_NA
 SET(${PROJECT_NAME}_PYTHON_HEADERS
   utils/eigen_container.hpp
   utils/handler.hpp
+  utils/copyable.hpp
   python.hpp
   spatial/se3.hpp
   spatial/force.hpp

bindings/python/multibody/frame.hpp

@@ -26,6 +26,7 @@
 #include "pinocchio/multibody/frame.hpp"
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/container/aligned-vector.hpp"
+#include "pinocchio/bindings/python/utils/copyable.hpp"
 
 namespace se3
 {
@@ -81,8 +82,9 @@ namespace se3
                            "A Plucker coordinate frame related to a parent joint inside a kinematic tree.\n\n",
 	                         bp::no_init
                          )
-	                       .def(FramePythonVisitor())
-	                       ;
+        .def(FramePythonVisitor())
+        .def(CopyableVisitor<Frame>())
+        ;
     
         bp::class_< std::vector<Frame> >("StdVec_Frame")
         .def(bp::vector_indexing_suite< container::aligned_vector<Frame> >());

bindings/python/spatial/force.hpp

@@ -24,6 +24,7 @@
 #include <eigenpy/memory.hpp>
 
 #include "pinocchio/spatial/force.hpp"
+#include "pinocchio/bindings/python/utils/copyable.hpp"
 
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(se3::Force)
 
@@ -98,6 +99,7 @@ namespace se3
 			     "Supported operations ...",
 			     bp::init<>())
 	  .def(ForcePythonVisitor<Force>())
+        .def(CopyableVisitor<Force>())
 	;
     
     }

bindings/python/spatial/inertia.hpp

@@ -24,6 +24,7 @@
 #include <eigenpy/memory.hpp>
 
 #include "pinocchio/spatial/inertia.hpp"
+#include "pinocchio/bindings/python/utils/copyable.hpp"
 
 namespace se3
 {
@@ -124,6 +125,7 @@ namespace se3
                                "Supported operations ...",
                                bp::init<>())
         .def(InertiaPythonVisitor<Inertia>())
+        .def(CopyableVisitor<Inertia>())
         ;
         
       }

bindings/python/spatial/motion.hpp

@@ -25,6 +25,7 @@
 
 #include "pinocchio/spatial/motion.hpp"
 #include "pinocchio/spatial/force.hpp"
+#include "pinocchio/bindings/python/utils/copyable.hpp"
 
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(se3::Motion)
 
@@ -106,6 +107,7 @@ namespace se3
                               "Supported operations ...",
                               bp::init<>())
         .def(MotionPythonVisitor<Motion>())
+        .def(CopyableVisitor<Motion>())
         ;
     }
 

bindings/python/spatial/se3.hpp

@@ -24,6 +24,7 @@
 #include <eigenpy/memory.hpp>
 
 #include "pinocchio/spatial/se3.hpp"
+#include "pinocchio/bindings/python/utils/copyable.hpp"
 
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(se3::SE3)
 
@@ -110,6 +111,7 @@ namespace se3
 			   "Supported operations ...",
 			   bp::init<>())
 	  .def(SE3PythonVisitor<SE3>())
+        .def(CopyableVisitor<SE3>())
 	;
     
     }

bindings/python/utils/copyable.hpp

+//
+// Copyright (c) 2016 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_python_utils_copyable_hpp__
+#define __se3_python_utils_copyable_hpp__
+
+#include <boost/python.hpp>
+
+namespace se3
+{
+  namespace python
+  {
+    
+    namespace bp = boost::python;
+    
+    ///
+    /// \brief Add the Python method copy to allow a copy of this by calling the copy constructor.
+    ///
+    template<class C>
+    struct CopyableVisitor : public bp::def_visitor< CopyableVisitor<C> >
+    {
+      template<class PyClass>
+      void visit(PyClass & cl) const
+      { cl.def("copy",&copy,"Returns a copy of *this."); }
+      
+    private:
+      static C copy(const C & self) { return C(self); }
+    };
+  } // namespace python
+} // namespace se3
+
+#endif // ifndef __se3_python_utils_copyable_hpp__