[robotwrapper] create constructor from pinocchio::model

bindings/python/robots/robot-wrapper.hpp

@@ -44,6 +44,7 @@ namespace tsid
       {
         cl
         .def(bp::init<std::string, std_vec, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("verbose")), "Default constructor without RootJoint."))
+        .def(bp::init<pinocchio::Model, bool>((bp::arg("Pinocchio Model"), bp::arg("verbose")), "Default constructor from pinocchio model"))
         .def(bp::init<std::string, std_vec, pinocchio::JointModelVariant, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("roottype"), bp::arg("verbose")), "Default constructor without RootJoint."))
         .add_property("nq", &Robot::nq)
         .add_property("nv", &Robot::nv)

include/tsid/robots/robot-wrapper.hpp

@@ -59,7 +59,9 @@ namespace tsid
       RobotWrapper(const std::string & filename,
                    const std::vector<std::string> & package_dirs,
                    bool verbose=false);
-      
+
+      RobotWrapper(const Model & m, bool verbose=false);
+
       RobotWrapper(const std::string & filename,
                    const std::vector<std::string> & package_dirs,
                    const pinocchio::JointModelVariant & rootJoint,

src/robots/robot-wrapper.cpp

@@ -44,6 +44,16 @@ namespace tsid
       m_Md.setZero(m_model.nv);
       m_M.setZero(m_model.nv, m_model.nv);
     }
+    RobotWrapper::RobotWrapper(const pinocchio::Model& m, bool verbose)
+      : m_verbose(verbose)
+    {
+      m_model = m;
+      m_model_filename = "";
+      m_rotor_inertias.setZero(m_model.nv);
+      m_gear_ratios.setZero(m_model.nv);
+      m_Md.setZero(m_model.nv);
+      m_M.setZero(m_model.nv, m_model.nv);
+    }
     
     RobotWrapper::RobotWrapper(const std::string & filename,
                                const std::vector<std::string> & ,