python: fix expose of JointComposite

bindings/python/multibody/joint/joints-models.hpp

 //
-// Copyright (c) 2015-2020 CNRS INRIA
+// Copyright (c) 2015-2021 CNRS INRIA
 //
 
 #ifndef __pinocchio_python_joints_models_hpp__
@@ -9,6 +9,7 @@
 
 #include "pinocchio/multibody/joint/joint-collection.hpp"
 #include "pinocchio/multibody/joint/joint-composite.hpp"
+#include "pinocchio/multibody/joint/joint-generic.hpp"
 
 #include <eigenpy/eigen-to-python.hpp>
 
@@ -31,8 +32,9 @@ namespace pinocchio
     inline bp::class_<JointModelRevoluteUnaligned>& expose_joint_model<JointModelRevoluteUnaligned> (bp::class_<JointModelRevoluteUnaligned> & cl)
     {
       return cl
-               .def(bp::init<double, double, double> (bp::args("x", "y", "z"), "Init JointModelRevoluteUnaligned from the components x, y, z of the axis"))
-               .def(bp::init<Eigen::Vector3d> (bp::args("axis"),
+               .def(bp::init<double, double, double> (bp::args("self","x", "y", "z"),
+                                                      "Init JointModelRevoluteUnaligned from the components x, y, z of the axis"))
+               .def(bp::init<Eigen::Vector3d> (bp::args("self","axis"),
                                                "Init JointModelRevoluteUnaligned from an axis with x-y-z components"))
                .def_readwrite("axis",&JointModelRevoluteUnaligned::axis,
                               "Rotation axis of the JointModelRevoluteUnaligned.")
@@ -44,9 +46,9 @@ namespace pinocchio
     inline bp::class_<JointModelPrismaticUnaligned>& expose_joint_model<JointModelPrismaticUnaligned> (bp::class_<JointModelPrismaticUnaligned> & cl)
     {
       return cl
-               .def(bp::init<double, double, double> (bp::args("x", "y", "z"),
+               .def(bp::init<double, double, double> (bp::args("self","x", "y", "z"),
                                                       "Init JointModelPrismaticUnaligned from the components x, y, z of the axis"))
-               .def(bp::init<Eigen::Vector3d> (bp::args("axis"),
+               .def(bp::init<Eigen::Vector3d> (bp::args("self","axis"),
                                                "Init JointModelPrismaticUnaligned from an axis with x-y-z components"))
                .def_readwrite("axis",&JointModelPrismaticUnaligned::axis,
                               "Translation axis of the JointModelPrismaticUnaligned.")
@@ -74,10 +76,11 @@ namespace pinocchio
     }; // struct JointModelCompositeAddJointVisitor
 
     static JointModelComposite & addJoint_proxy(JointModelComposite & joint_composite,
-                                                const JointModelVariant & jmodel_variant,
+                                                const JointModel & jmodel,
                                                 const SE3 & joint_placement = SE3::Identity())
     {
-      return boost::apply_visitor(JointModelCompositeAddJointVisitor(joint_composite,joint_placement), jmodel_variant);
+      return boost::apply_visitor(JointModelCompositeAddJointVisitor(joint_composite,joint_placement),
+                                  jmodel.toVariant());
     }
 
     BOOST_PYTHON_FUNCTION_OVERLOADS(addJoint_proxy_overloads,addJoint_proxy,2,3)
@@ -97,22 +100,25 @@ namespace pinocchio
       }
     }; // struct JointModelCompositeConstructorVisitor
 
-    static JointModelComposite* init_proxy1(const JointModelVariant & jmodel_variant)
+    static JointModelComposite* init_proxy1(const JointModel & jmodel)
     {
-      return boost::apply_visitor(JointModelCompositeConstructorVisitor(SE3::Identity()), jmodel_variant);
+      return boost::apply_visitor(JointModelCompositeConstructorVisitor(SE3::Identity()),
+                                  jmodel);
     }
 
-    static JointModelComposite* init_proxy2(const JointModelVariant & jmodel_variant,
+    static JointModelComposite* init_proxy2(const JointModel & jmodel,
                                             const SE3 & joint_placement)
     {
-      return boost::apply_visitor(JointModelCompositeConstructorVisitor(joint_placement), jmodel_variant);
+      return boost::apply_visitor(JointModelCompositeConstructorVisitor(joint_placement),
+                                  jmodel);
     }
 
     template<>
     inline bp::class_<JointModelComposite>& expose_joint_model<JointModelComposite> (bp::class_<JointModelComposite> & cl)
     {
       return cl
-               .def(bp::init<const size_t> (bp::args("size"), "Init JointModelComposite with a defined size"))
+               .def(bp::init<const size_t> (bp::args("self","size"),
+                                            "Init JointModelComposite with a defined size"))
                .def("__init__",
                     bp::make_constructor(init_proxy1,
                                          bp::default_call_policies(),
@@ -132,7 +138,7 @@ namespace pinocchio
                .add_property("njoints",&JointModelComposite::njoints)
                .def("addJoint",
                     &addJoint_proxy,
-                    addJoint_proxy_overloads(bp::args("joint_model","joint_placement"),
+                    addJoint_proxy_overloads(bp::args("self","joint_model","joint_placement"),
                                              "Add a joint to the vector of joints."
                                             )[bp::return_internal_reference<>()]
                    )