add method ContactSequence::concatenateWrenchTrajectory

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

@@ -181,6 +181,9 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
         .def("concatenateZMPtrajectories", &CS::concatenateZMPtrajectories,
              "Return a piecewise curve wchich is the concatenation of the m_zmp curves"
              " for each contact phases in the sequence.")
+        .def("concatenateWrenchTrajectories", &CS::concatenateWrenchTrajectories,
+             "Return a piecewise curve wchich is the concatenation of the m_wrench curves"
+             " for each contact phases in the sequence.")
         .def("concatenateQtrajectories", &CS::concatenateQtrajectories,
              "Return a piecewise curve wchich is the concatenation of the m_q curves"
              " for each contact phases in the sequence.")

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

@@ -941,6 +941,19 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
     return res;
   }
 
+  /**
+   * @brief concatenateWrenchTrajectories Return a piecewise curve which is the concatenation
+   *  of the m_wrench curves for each contact phases in the sequence.
+   * @return
+   */
+  piecewise_t concatenateWrenchTrajectories() const {
+    piecewise_t res = piecewise_t();
+    for(const ContactPhase& phase : m_contact_phases){
+      res.add_curve_ptr(phase.m_wrench);
+    }
+    return res;
+  }
+
   /**
    * @brief concatenateQtrajectories Return a piecewise curve which is the concatenation
    *  of the m_q curves for each contact phases in the sequence.