[Python] add api & tests for ContactPatch::contact_model

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

@@ -29,7 +29,6 @@ struct ContactModelPythonVisitor
         .def(bp::init<ContactModel>(bp::args("other"), "Copy contructor."))
         .def_readwrite("mu", &ContactModel::m_mu, "Friction coefficient.")
         .def_readwrite("contact_type", &ContactModel::m_contact_type, "Enum that define the type of contact.")
-
         .def(bp::self == bp::self)
         .def(bp::self != bp::self)
         .def("copy", &copy, "Returns a copy of *this.");

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

@@ -34,6 +34,7 @@ struct ContactPatchPythonVisitor : public boost::python::def_visitor<ContactPatc
                       "Placement of the patch represented as a pinocchio SE3 object.")
         .add_property("friction", &getFriction, &setFriction,
                       "Friction coefficient between the robot and the environment for this contact.")
+        .def_readwrite("contact_model", &ContactPatch::m_contact_model, "The contact model defining this contact.")
         .def(bp::self == bp::self)
         .def(bp::self != bp::self)
         .def("copy", &copy, "Returns a copy of *this.");

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

@@ -20,16 +20,16 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
   typedef pinocchio::SE3Tpl<Scalar, 0> SE3;
 
   /// \brief Default constructor.
-  ContactPatchTpl() : m_placement(SE3::Identity()), m_contact_model() {}
+  ContactPatchTpl() : m_contact_model(), m_placement(SE3::Identity()) {}
 
   /// \brief Init contact patch from a given placement.
-  explicit ContactPatchTpl(const SE3& placement) : m_placement(placement), m_contact_model() {}
+  explicit ContactPatchTpl(const SE3& placement) : m_contact_model(), m_placement(placement) {}
 
   /// \brief Init contact patch from a given placement and a friction coefficient
-  ContactPatchTpl(const SE3& placement, const Scalar mu) : m_placement(placement), m_contact_model(mu) {}
+  ContactPatchTpl(const SE3& placement, const Scalar mu) : m_contact_model(mu), m_placement(placement) {}
 
   /// \brief Copy constructor
-  ContactPatchTpl(const ContactPatchTpl& other) : m_placement(other.m_placement), m_contact_model(other.m_contact_model) {}
+  ContactPatchTpl(const ContactPatchTpl& other) : m_contact_model(other.m_contact_model), m_placement(other.m_placement) {}
 
   const SE3& placement() const { return m_placement; }
   SE3& placement() { return m_placement; }
@@ -57,11 +57,12 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
     return os;
   }
 
+  /// \brief Contact model of this contact
+  ContactModel m_contact_model;
+
  protected:
   /// \brief Placement of the contact patch
   SE3 m_placement;
-  /// \brief friction coefficient for this contact
-  ContactModel m_contact_model;
 
  private:
   // Serialization of the class

unittest/python/scenario.py

@@ -316,6 +316,22 @@ class ContactPatchTest(unittest.TestCase):
         cp_from_pickle = pickle.loads(cp_pickled)
         self.assertEqual(cp1, cp_from_pickle)
 
+    def test_contact_patch_model_accessor(self):
+        p = SE3()
+        p.setRandom()
+        cp1 = ContactPatch(p, 0.9)
+        cm = cp1.contact_model
+        self.assertEqual(cm.mu, 0.9)
+        cm.mu = 0.5
+        self.assertEqual(cp1.friction, 0.5)
+
+        cp1.contact_model.contact_type = ContactType.CONTACT_PLANAR
+        self.assertEqual(cp1.contact_model.contact_type, ContactType.CONTACT_PLANAR)
+
+        cp1.friction = 2
+        self.assertEqual(cp1.contact_model.mu, 2)
+        self.assertEqual(cm.mu, 2)
+
 
 class ContactPhaseTest(unittest.TestCase):
     def test_default_constructor(self):