[Python] Add copy constructor to spatial classes

src/python/force.hpp

@@ -70,6 +70,7 @@ namespace se3
              ((bp::arg("linear"),bp::arg("angular")),
               "Initialize from linear and angular components (dont mix the order)."))
         .def(bp::init<Vector6_fx>((bp::arg("Vector 6d")),"Init from vector 6 [f,n]"))
+        .def(bp::init<Force_fx>((bp::arg("other")),"Copy constructor."))
         
         .add_property("linear",&ForcePythonVisitor::getLinear,&ForcePythonVisitor::setLinear)
         .add_property("angular",&ForcePythonVisitor::getAngular,&ForcePythonVisitor::setAngular)

src/python/inertia.hpp

@@ -75,6 +75,7 @@ namespace se3
                                   bp::default_call_policies(),
                                   (bp::arg("mass"),bp::arg("lever"),bp::arg("inertia"))),
              "Initialize from mass, lever and 3d inertia.")
+        .def(bp::init<Inertia_fx>((bp::arg("other")),"Copy constructor."))
         
         .add_property("mass", &InertiaPythonVisitor::getMass, &InertiaPythonVisitor::setMass)
         .add_property("lever", &InertiaPythonVisitor::getLever, &InertiaPythonVisitor::setLever)

src/python/motion.hpp

@@ -73,6 +73,7 @@ namespace se3
              ((bp::arg("linear"),bp::arg("angular")),
               "Initialize from linear and angular components (dont mix the order)."))
         .def(bp::init<Vector6_fx>((bp::arg("Vector 6d")),"Init from vector 6 [v,w]"))
+        .def(bp::init<Motion_fx>((bp::arg("other")),"Copy constructor."))
         
         .add_property("linear",&MotionPythonVisitor::getLinear,&MotionPythonVisitor::setLinear)
         .add_property("angular",&MotionPythonVisitor::getAngular,&MotionPythonVisitor::setAngular)

src/python/se3.hpp

 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2016 CNRS
 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -67,13 +67,12 @@ namespace se3
       template<class PyClass>
       void visit(PyClass& cl) const 
       {
-	cl
-	  .def(bp::init<Matrix3_fx,Vector3_fx>
-	       ((bp::arg("Rotation"),bp::arg("translation")),
-		"Initialize from rotation and translation."))
-	  .def(bp::init<int>
-	       ((bp::arg("trivial arg (should be 1)")),
-	   	"Init to identity."))
+        cl
+        .def(bp::init<Matrix3_fx,Vector3_fx>
+             ((bp::arg("Rotation"),bp::arg("translation")),
+              "Initialize from rotation and translation."))
+        .def(bp::init<int>((bp::arg("trivial arg (should be 1)")),"Init to identity."))
+        .def(bp::init<SE3_fx> ((bp::arg("other")), "Copy constructor."))
 
 	  .add_property("rotation",&SE3PythonVisitor::getRotation,&SE3PythonVisitor::setRotation)
 	  .add_property("translation",&SE3PythonVisitor::getTranslation,&SE3PythonVisitor::setTranslation)