ContactPhase: add a ContactModel member and remove friction coefficient

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

@@ -3,6 +3,7 @@
 #define __multicontact_api_scenario_contact_patch_hpp__
 
 #include "multicontact-api/scenario/fwd.hpp"
+#include "multicontact-api/scenario/contact-model.hpp"
 #include <pinocchio/spatial/se3.hpp>
 #include "multicontact-api/serialization/archive.hpp"
 #include "multicontact-api/serialization/spatial.hpp"
@@ -15,29 +16,30 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   typedef _Scalar Scalar;
+  typedef ContactModelTpl<_Scalar> ContactModel;
   typedef pinocchio::SE3Tpl<Scalar, 0> SE3;
 
   /// \brief Default constructor.
-  ContactPatchTpl() : m_placement(SE3::Identity()), m_mu(-1.) {}
+  ContactPatchTpl() : m_placement(SE3::Identity()), m_contact_model() {}
 
   /// \brief Init contact patch from a given placement.
-  explicit ContactPatchTpl(const SE3& placement) : m_placement(placement), m_mu(-1.) {}
+  explicit ContactPatchTpl(const SE3& placement) : m_placement(placement), m_contact_model() {}
 
   /// \brief Init contact patch from a given placement and a friction coefficient
-  ContactPatchTpl(const SE3& placement, const Scalar mu) : m_placement(placement), m_mu(mu) {}
+  ContactPatchTpl(const SE3& placement, const Scalar mu) : m_placement(placement), m_contact_model(mu) {}
 
   /// \brief Copy constructor
-  ContactPatchTpl(const ContactPatchTpl& other) : m_placement(other.m_placement), m_mu(other.m_mu) {}
+  ContactPatchTpl(const ContactPatchTpl& other) : m_placement(other.m_placement), m_contact_model(other.m_contact_model) {}
 
   const SE3& placement() const { return m_placement; }
   SE3& placement() { return m_placement; }
 
-  const Scalar& friction() const { return m_mu; }
-  Scalar& friction() { return m_mu; }
+  const Scalar& friction() const { return m_contact_model.m_mu; }
+  Scalar& friction() { return m_contact_model.m_mu; }
 
   template <typename S2>
   bool operator==(const ContactPatchTpl<S2>& other) const {
-    return m_placement == other.m_placement && m_mu == other.m_mu;
+    return m_placement == other.m_placement && m_contact_model == other.m_contact_model;
   }
 
   template <typename S2>
@@ -46,7 +48,7 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
   }
 
   void disp(std::ostream& os) const {
-    os << "Placement:\n" << m_placement << std::endl << "Friction coefficient : " << m_mu << std::endl;
+    os << "Placement:\n" << m_placement << std::endl << "ContactModel : " << m_contact_model << std::endl;
   }
 
   template <typename S2>
@@ -59,7 +61,7 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
   /// \brief Placement of the contact patch
   SE3 m_placement;
   /// \brief friction coefficient for this contact
-  Scalar m_mu;
+  ContactModel m_contact_model;
 
  private:
   // Serialization of the class
@@ -68,13 +70,13 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
   template <class Archive>
   void save(Archive& ar, const unsigned int /*version*/) const {
     ar& boost::serialization::make_nvp("placement", m_placement);
-    ar& boost::serialization::make_nvp("mu", m_mu);
+    ar& boost::serialization::make_nvp("contact_model", m_contact_model);
   }
 
   template <class Archive>
   void load(Archive& ar, const unsigned int /*version*/) {
     ar >> boost::serialization::make_nvp("placement", m_placement);
-    ar >> boost::serialization::make_nvp("mu", m_mu);
+    ar >> boost::serialization::make_nvp("contact_model", m_contact_model);
   }
 
   BOOST_SERIALIZATION_SPLIT_MEMBER()  // why is it required ? using only serialize() lead to compilation error,

unittest/scenario.cpp

@@ -362,13 +362,10 @@ BOOST_AUTO_TEST_CASE(contact_model) {
   mp3.m_contact_type = ContactType::POINT;
   BOOST_CHECK(mp1 != mp3);
 
-  std::cout<<"ContactModel before serialization : \n "<<mp1<<std::endl;
-
   std::string fileName("fileTest_contactModel");
   mp1.saveAsText(fileName + ".txt");
   ContactModel mp_from_text;
   mp_from_text.loadFromText(fileName + ".txt");
-  std::cout<<"ContactModel after serialization : \n "<<mp_from_text<<std::endl;
   BOOST_CHECK(mp1 == mp_from_text);
 
   mp1.saveAsXML(fileName + ".xml", "ContactModel");