Refactor ContactModelPlanar -> ContactModel

bindings/python/scenario/contact-model.cpp

@@ -2,12 +2,12 @@
 // Authors: Justin Carpentier <jcarpent@laas.fr>
 
 #include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
-#include "multicontact-api/bindings/python/scenario/contact-model-planar.hpp"
+#include "multicontact-api/bindings/python/scenario/contact-model.hpp"
 
 namespace multicontact_api {
 namespace python {
 void exposeContactModels() {
-  ContactModelPlanarPythonVisitor<multicontact_api::scenario::ContactModelPlanar>::expose("ContactModelPlanar");
+  ContactModelPythonVisitor<multicontact_api::scenario::ContactModel>::expose("ContactModel");
 }
 }  // namespace python
 }  // namespace multicontact_api

include/multicontact-api/CMakeLists.txt

@@ -15,7 +15,7 @@ SET(${PROJECT_NAME}_SERIALIZATION_HEADERS
   )
 
 SET(${PROJECT_NAME}_SCENARIO_HEADERS
-  scenario/contact-model-planar.hpp
+  scenario/contact-model.hpp
   scenario/contact-patch.hpp
   scenario/contact-phase.hpp
   scenario/contact-sequence.hpp
@@ -29,7 +29,7 @@ SET(${PROJECT_NAME}_PYTHON_HEADERS
   bindings/python/geometry/linear-cone.hpp
   bindings/python/geometry/second-order-cone.hpp
   bindings/python/serialization/archive.hpp
-  bindings/python/scenario/contact-model-planar.hpp
+  bindings/python/scenario/contact-model.hpp
   bindings/python/scenario/contact-patch.hpp
   bindings/python/scenario/contact-phase.hpp
   bindings/python/scenario/contact-sequence.hpp

include/multicontact-api/bindings/python/scenario/contact-model.hpp

@@ -6,7 +6,7 @@
 
 #include <string>
 
-#include "multicontact-api/scenario/contact-model-planar.hpp"
+#include "multicontact-api/scenario/contact-model.hpp"
 #include "multicontact-api/bindings/python/serialization/archive.hpp"
 #include "multicontact-api/bindings/python/utils/printable.hpp"
 
@@ -15,18 +15,18 @@ namespace python {
 
 namespace bp = boost::python;
 
-template <typename ContactModelPlanar>
-struct ContactModelPlanarPythonVisitor
-    : public boost::python::def_visitor<ContactModelPlanarPythonVisitor<ContactModelPlanar> > {
-  typedef typename ContactModelPlanar::Scalar Scalar;
+template <typename ContactModel>
+struct ContactModelPythonVisitor
+    : public boost::python::def_visitor<ContactModelPythonVisitor<ContactModel> > {
+  typedef typename ContactModel::Scalar Scalar;
 
   template <class PyClass>
   void visit(PyClass& cl) const {
     cl.def(bp::init<>())
         .def(bp::init<Scalar, Scalar>(bp::args("mu", "ZMP_radius")))
-        .def(bp::init<ContactModelPlanar>(bp::args("other"), "Copy contructor."))
-        .def_readwrite("mu", &ContactModelPlanar::m_mu, "Friction coefficient.")
-        .def_readwrite("ZMP_radius", &ContactModelPlanar::m_ZMP_radius, "Radius of the ZMP region.")
+        .def(bp::init<ContactModel>(bp::args("other"), "Copy contructor."))
+        .def_readwrite("mu", &ContactModel::m_mu, "Friction coefficient.")
+        .def_readwrite("ZMP_radius", &ContactModel::m_ZMP_radius, "Radius of the ZMP region.")
 
         .def(bp::self == bp::self)
         .def(bp::self != bp::self)
@@ -35,14 +35,14 @@ struct ContactModelPlanarPythonVisitor
 
   static void expose(const std::string& class_name) {
     std::string doc = "Contact Model Planar";
-    bp::class_<ContactModelPlanar>(class_name.c_str(), doc.c_str(), bp::no_init)
-        .def(ContactModelPlanarPythonVisitor<ContactModelPlanar>())
-        .def(SerializableVisitor<ContactModelPlanar>())
-        .def(PrintableVisitor<ContactModelPlanar>());
+    bp::class_<ContactModel>(class_name.c_str(), doc.c_str(), bp::no_init)
+        .def(ContactModelPythonVisitor<ContactModel>())
+        .def(SerializableVisitor<ContactModel>())
+        .def(PrintableVisitor<ContactModel>());
   }
 
  private:
-  static ContactModelPlanar copy(const ContactModelPlanar& self) { return ContactModelPlanar(self); }
+  static ContactModel copy(const ContactModel& self) { return ContactModel(self); }
 };
 }  // namespace python
 }  // namespace multicontact_api

include/multicontact-api/scenario/contact-model.hpp

+// Copyright (c) 2015-2018, CNRS
+// Authors: Justin Carpentier <jcarpent@laas.fr>
+
+#ifndef __multicontact_api_scenario_contact_model_planar_hpp__
+#define __multicontact_api_scenario_contact_model_planar_hpp__
+
+#include "multicontact-api/scenario/fwd.hpp"
+#include "multicontact-api/serialization/archive.hpp"
+
+#include <iostream>
+#include <Eigen/Dense>
+
+namespace multicontact_api {
+namespace scenario {
+
+template <typename _Scalar>
+struct ContactModelTpl : public serialization::Serializable<ContactModelTpl<_Scalar> > {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  typedef _Scalar Scalar;
+
+  /// \brief Default constructor.
+  ContactModelTpl() : m_mu(-1.), m_ZMP_radius(-1.) {}
+
+  /// \brief Default constructor.
+  ContactModelTpl(const Scalar mu, const Scalar ZMP_radius) : m_mu(mu), m_ZMP_radius(ZMP_radius) {}
+
+  /// \brief Copy constructor
+  template <typename S2>
+  explicit ContactModelTpl(const ContactModelTpl<S2>& other)
+      : m_mu(other.mu), m_ZMP_radius(other.ZMP_radius) {}
+
+  template <typename S2>
+  bool operator==(const ContactModelTpl<S2>& other) const {
+    return m_mu == other.m_mu && m_ZMP_radius == other.m_ZMP_radius;
+  }
+
+  template <typename S2>
+  bool operator!=(const ContactModelTpl<S2>& other) const {
+    return !(*this == other);
+  }
+
+  void disp(std::ostream& os) const {
+    os << "mu: " << m_mu << std::endl << "ZMP radius: " << m_ZMP_radius << std::endl;
+  }
+
+  template <typename S2>
+  friend std::ostream& operator<<(std::ostream& os, const ContactModelTpl<S2>& cp) {
+    cp.disp(os);
+    return os;
+  }
+
+  /// \brief Friction coefficient.
+  Scalar m_mu;
+  /// \brief ZMP radius.
+  Scalar m_ZMP_radius;
+
+ private:
+  // Serialization of the class
+  friend class boost::serialization::access;
+
+  template <class Archive>
+  void save(Archive& ar, const unsigned int /*version*/) const {
+    ar& boost::serialization::make_nvp("mu", m_mu);
+    ar& boost::serialization::make_nvp("ZMP_radius", m_ZMP_radius);
+  }
+
+  template <class Archive>
+  void load(Archive& ar, const unsigned int /*version*/) {
+    ar >> boost::serialization::make_nvp("mu", m_mu);
+    ar >> boost::serialization::make_nvp("ZMP_radius", m_ZMP_radius);
+  }
+
+  BOOST_SERIALIZATION_SPLIT_MEMBER()
+};
+}  // namespace scenario
+}  // namespace multicontact_api
+
+#endif  // ifndef __multicontact_api_scenario_contact_model_planar_hpp__

include/multicontact-api/scenario/fwd.hpp

@@ -26,8 +26,8 @@ struct ContactSequenceTpl;
 typedef ContactSequenceTpl<ContactPhase> ContactSequence;
 
 template <typename Scalar>
-struct ContactModelPlanarTpl;
-typedef ContactModelPlanarTpl<double> ContactModelPlanar;
+struct ContactModelTpl;
+typedef ContactModelTpl<double> ContactModel;
 
 enum ConicType { CONIC_SOWC, CONIC_DOUBLE_DESCRIPTION, CONIC_UNDEFINED };
 

unittest/python/scenario.py

@@ -9,7 +9,7 @@ from curves import SE3Curve, bezier, piecewise, piecewise_SE3, polynomial
 from numpy import array, array_equal, isclose, random
 
 import pinocchio as pin
-from multicontact_api import ContactModelPlanar, ContactPatch, ContactPhase, ContactSequence
+from multicontact_api import ContactModel, ContactPatch, ContactPhase, ContactSequence
 from pinocchio import SE3, Quaternion
 import pickle
 pin.switchToNumpyArray()
@@ -153,13 +153,13 @@ class ContactModelTest(unittest.TestCase):
         mu = 0.3
         zmp_radius = 0.01
         # constructor with both values
-        mp1 = ContactModelPlanar(mu, zmp_radius)
+        mp1 = ContactModel(mu, zmp_radius)
         # test getter bindings
         self.assertEqual(mp1.mu, mu)
         self.assertEqual(mp1.ZMP_radius, zmp_radius)
 
         # copy constructor :
-        mp2 = ContactModelPlanar(mp1)
+        mp2 = ContactModel(mp1)
         self.assertEqual(mp2.mu, mu)
         self.assertEqual(mp2.ZMP_radius, zmp_radius)
 
@@ -169,17 +169,17 @@ class ContactModelTest(unittest.TestCase):
         self.assertTrue(mp1 != mp2)
 
     def test_contact_model_serialization_default(self):
-        mp1 = ContactModelPlanar()
+        mp1 = ContactModel()
         mp1.saveAsText("mp_test.txt")
-        mp_txt = ContactModelPlanar()
+        mp_txt = ContactModel()
         mp_txt.loadFromText("mp_test.txt")
         self.assertEqual(mp1, mp_txt)
         mp1.saveAsBinary("mp_test")
-        mp_bin = ContactModelPlanar()
+        mp_bin = ContactModel()
         mp_bin.loadFromBinary("mp_test")
         self.assertEqual(mp1, mp_bin)
         mp1.saveAsXML("mp_test.xml", 'ContactModel')
-        mp_xml = ContactModelPlanar()
+        mp_xml = ContactModel()
         mp_xml.loadFromXML("mp_test.xml", 'ContactPatch')
         self.assertEqual(mp1, mp_xml)
         mp_pickled = pickle.dumps(mp1)
@@ -190,17 +190,17 @@ class ContactModelTest(unittest.TestCase):
         mu = 0.3
         zmp_radius = 0.01
         # constructor with both values
-        mp1 = ContactModelPlanar(mu, zmp_radius)
+        mp1 = ContactModel(mu, zmp_radius)
         mp1.saveAsText("mp_test.txt")
-        mp_txt = ContactModelPlanar()
+        mp_txt = ContactModel()
         mp_txt.loadFromText("mp_test.txt")
         self.assertEqual(mp1, mp_txt)
         mp1.saveAsBinary("mp_test")
-        mp_bin = ContactModelPlanar()
+        mp_bin = ContactModel()
         mp_bin.loadFromBinary("mp_test")
         self.assertEqual(mp1, mp_bin)
         mp1.saveAsXML("mp_test.xml", 'ContactModel')
-        mp_xml = ContactModelPlanar()
+        mp_xml = ContactModel()
         mp_xml.loadFromXML("mp_test.xml", 'ContactPatch')
         self.assertEqual(mp1, mp_xml)
         mp_pickled = pickle.dumps(mp1)

unittest/python/trivial.py

@@ -6,7 +6,7 @@ import multicontact_api
 class TrivialTest(unittest.TestCase):
     """ A test written by someone who has no idea what this software is about"""
     def test_trivial(self):
-        comopla = multicontact_api.ContactModelPlanar()
+        comopla = multicontact_api.ContactModel()
         epsilon = 0.00001
         value_wanted = -1.0
         self.assertTrue((comopla.mu - value_wanted) < epsilon)

unittest/scenario.cpp

@@ -7,7 +7,7 @@
 #include <boost/test/unit_test.hpp>
 #include <boost/utility/binary.hpp>
 
-#include "multicontact-api/scenario/contact-model-planar.hpp"
+#include "multicontact-api/scenario/contact-model.hpp"
 #include "multicontact-api/scenario/contact-patch.hpp"
 #include "multicontact-api/scenario/contact-phase.hpp"
 #include "multicontact-api/scenario/contact-sequence.hpp"
@@ -343,35 +343,35 @@ BOOST_AUTO_TEST_CASE(contact_model) {
   const double mu = 0.3;
   const double ZMP_radius = 0.01;
 
-  ContactModelPlanar mp1(mu, ZMP_radius);
-  ContactModelPlanar mp2(mp1);
+  ContactModel mp1(mu, ZMP_radius);
+  ContactModel mp2(mp1);
   BOOST_CHECK(mp1.m_mu == mu);
   BOOST_CHECK(mp1.m_ZMP_radius == ZMP_radius);
 
   BOOST_CHECK(mp1 == mp2);
   mp1.m_mu = 0.5;
   BOOST_CHECK(mp1 != mp2);
-  ContactModelPlanar mp3(mp1);
+  ContactModel mp3(mp1);
   BOOST_CHECK(mp1 == mp3);
   mp3.m_ZMP_radius = 0.5;
   BOOST_CHECK(mp1 != mp3);
 
-  std::cout<<"ContactModel Planar before serialization : \n "<<mp1<<std::endl;
+  std::cout<<"ContactModel before serialization : \n "<<mp1<<std::endl;
 
   std::string fileName("fileTest_contactModel");
   mp1.saveAsText(fileName + ".txt");
-  ContactModelPlanar mp_from_text;
+  ContactModel mp_from_text;
   mp_from_text.loadFromText(fileName + ".txt");
-  std::cout<<"ContactModel Planar after serialization : \n "<<mp_from_text<<std::endl;
+  std::cout<<"ContactModel after serialization : \n "<<mp_from_text<<std::endl;
   BOOST_CHECK(mp1 == mp_from_text);
 
   mp1.saveAsXML(fileName + ".xml", "ContactModel");
-  ContactModelPlanar mp_from_xml;
+  ContactModel mp_from_xml;
   mp_from_xml.loadFromXML(fileName + ".xml", "ContactModel");
   BOOST_CHECK(mp1 == mp_from_xml);
 
   mp1.saveAsBinary(fileName);
-  ContactModelPlanar mp_from_bin;
+  ContactModel mp_from_bin;
   mp_from_bin.loadFromBinary(fileName);
   BOOST_CHECK(mp1 == mp_from_bin);
 }