[C++][Python] add CS::haveRootTrajectories

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

@@ -146,6 +146,9 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
              "Check that a contact force trajectory exist for each active contact.\n"
              "Also check that the time interval of this trajectories matches the one of the phase.\n"
              "and that the trajectories start and end and the correct values defined in each phase.")
+        .def("haveRootTrajectories", &CS::haveRootTrajectories,
+             "check that a root trajectory exist for each contact phases.\n"
+             "Also check that it start and end at the correct time interval.")
         .def("getAllEffectorsInContact",&getAllEffectorsInContactAsList,
              "return a list of names of all the effectors used to create contacts during the sequence")
         .def(bp::self == bp::self)

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

@@ -743,6 +743,32 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
     return true;
   }
 
+  /**
+   * @brief haveRootTrajectories check that a root trajectory exist for each contact phases.
+   * Also check that it start and end at the correct time interval
+   * @return
+   */
+  bool haveRootTrajectories() const{
+    size_t i = 0;
+    for(const ContactPhase& phase : m_contact_phases){
+      if(!phase.m_root){
+        std::cout<<"Root trajectory not defined for phase : "<<i<<std::endl;
+        return false;
+      }
+      if(phase.m_root->min() != phase.timeInitial()){
+        std::cout<<"Root trajectory do not start at t_init for phase : "<<i<<std::endl;
+        return false;
+      }
+      if(phase.m_root->max() != phase.timeFinal()){
+        std::cout<<"Root trajectory do not start at t_final for phase : "<<i<<std::endl;
+        return false;
+      }
+      ++i;
+    }
+    return true;
+  }
+
+
   /**
    * @brief getAllEffectorsInContact return a vector of names of all the effectors used to create contacts during the sequence
    * @return