"Appends a body to the joint given by its index. The body is defined by its inertia, its relative placement regarding to the joint and its name.")
.def("addBodyFrame",&Model::addBodyFrame,bp::args("body_name","parentJoint","body_placement","previous_frame(parent frame)"),"add a body to the frame tree")
.def("getBodyId",&Model::getBodyId,bp::args("name"),"Return the index of a frame of type BODY given by its name")
.def("existBodyName",&Model::existBodyName,bp::args("name"),"Check if a frame of type BODY exists, given its name")
.def("getJointId",&Model::getJointId,bp::args("name"),"Return the index of a joint given by its name")
.def("existJointName",&Model::existJointName,bp::args("name"),"Check if a joint given by its name exists")
.def("addBodyFrame",&Model::addBodyFrame,bp::args("self","body_name","parentJoint","body_placement","previous_frame(parent frame)"),"add a body to the frame tree")
.def("getBodyId",&Model::getBodyId,bp::args("self","name"),"Return the index of a frame of type BODY given by its name")
.def("existBodyName",&Model::existBodyName,bp::args("self","name"),"Check if a frame of type BODY exists, given its name")
.def("getJointId",&Model::getJointId,bp::args("self","name"),"Return the index of a joint given by its name")
.def("existJointName",&Model::existJointName,bp::args("self","name"),"Check if a joint given by its name exists")
.def("getFrameId",&Model::getFrameId,getFrameId_overload(bp::args("name","type"),"Returns the index of the frame given by its name and its type. If the frame is not in the frames vector, it returns the current size of the frames vector."))
.def("getFrameId",&Model::getFrameId,getFrameId_overload(bp::args("self","name","type"),"Returns the index of the frame given by its name and its type. If the frame is not in the frames vector, it returns the current size of the frames vector."))
.def("existFrame",&Model::existFrame,existFrame_overload(bp::args("name","type"),"Returns true if the frame given by its name exists inside the Model with the given type."))
.def("existFrame",&Model::existFrame,existFrame_overload(bp::args("self","name","type"),"Returns true if the frame given by its name exists inside the Model with the given type."))
.def("addFrame",(std::size_t(Model::*)(constFrame&))&Model::addFrame,bp::args("frame"),"Add a frame to the vector of frames.")
.def("addFrame",(std::size_t(Model::*)(constFrame&))&Model::addFrame,bp::args("self","frame"),"Add a frame to the vector of frames.")
.def("createData",
&ModelPythonVisitor::createData,
&ModelPythonVisitor::createData,bp::arg("self"),
"Create a Data object for the given model.")
.def("check",(bool(Model::*)(constData&)const)&Model::check,bp::arg("data"),"Check consistency of data wrt model.")
"Center of mass location of the Spatial Inertia. It corresponds to the location of the center of mass regarding to the frame where the Spatial Inertia is expressed.")