Commit 7aac53f6 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Python] add bindings for cs::phaseAtTime method

parent ad3c119e
......@@ -206,6 +206,16 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
"for each contact phases in the sequence.\n"
"During the phases where no contact normal forces are defined,"
"the trajectory is constant with the value of 0.")
.def("phaseIdAtTime", &CS::phaseIdAtTime,
bp::arg("time"),
"return the index of a phase in the sequence such that "
"phase.timeInitial <= t < phase.timeFinal \n"
"if t equal to the last phase timeFinal, this index is returned.")
.def("phaseAtTime", &CS::phaseAtTime,
bp::arg("time"), bp::return_internal_reference<>(),
"return a phase of the sequence such that "
"phase.timeInitial <= t < phase.timeFinal \n"
"if t equal to the last phase timeFinal, this index is returned.")
.def(bp::self == bp::self)
.def(bp::self != bp::self)
.def("copy", &copy, "Returns a copy of *this.");
......
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