ContactSequence : add method haveZMPtrajectories

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

@@ -159,6 +159,8 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
         .def("haveFriction", &CS::haveFriction,
              "check that all the contact patch used in the sequence have"
              "a friction coefficient initialized.")
+        .def("haveZMPtrajectories", &CS::haveZMPtrajectories,
+             "check that all the contact phases have a ZMP trajectory.")
         .def("getAllEffectorsInContact",&getAllEffectorsInContactAsList,
              "return a list of names of all the effectors used to create contacts during the sequence")
         .def("concatenateCtrajectories", &CS::concatenateCtrajectories,

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

@@ -823,6 +823,31 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
     return true;
   }
 
+  /**
+   * @brief haveZMPtrajectories check that all the contact phases have a zmp trajectory
+   * @return
+   */
+  bool haveZMPtrajectories(){
+    size_t i = 0;
+    for(const ContactPhase& phase : m_contact_phases){
+      if(!phase.m_zmp){
+        std::cout<<"ZMP trajectory not defined for phase : "<<i<<std::endl;
+        return false;
+      }
+      if(phase.m_zmp->min() != phase.timeInitial()){
+        std::cout<<"ZMP trajectory do not start at t_init for phase : "<<i<<std::endl;
+        return false;
+      }
+      if(phase.m_zmp->max() != phase.timeFinal()){
+        std::cout<<"ZMP trajectory do not end 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