[Python] Expose computeABADerivatives

bindings/python/CMakeLists.txt

@@ -90,6 +90,7 @@ SET(${PROJECT_NAME}_PYTHON_SOURCES
   algorithm/expose-rnea.cpp
   algorithm/expose-rnea-derivatives.cpp
   algorithm/expose-aba.cpp
+  algorithm/expose-aba-derivatives.cpp
   algorithm/expose-jacobian.cpp
   algorithm/expose-joints.cpp
   algorithm/expose-energy.cpp

bindings/python/algorithm/algorithms.hpp

@@ -42,6 +42,7 @@ namespace se3
     void exposeRegressor();
     
     void exposeRNEADerivatives();
+    void exposeABADerivatives();
 
     void exposeAlgorithms();
     

bindings/python/algorithm/expose-aba-derivatives.cpp

+//
+// Copyright (c) 2018 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
+#include "pinocchio/algorithm/aba-derivatives.hpp"
+
+namespace se3
+{
+  namespace python
+  {
+    void computeABADerivativesDefault(const Model & model, Data & data,
+                                      const Eigen::VectorXd & q,
+                                      const Eigen::VectorXd & v,
+                                      const Eigen::VectorXd & tau)
+    {
+      computeABADerivatives(model,data,q,v,tau);
+    }
+    
+    void exposeABADerivatives()
+    {
+      using namespace Eigen;
+      typedef container::aligned_vector<Force> ForceAlignedVector;
+      
+      bp::def("computeABADerivatives",
+              computeABADerivativesDefault,
+              bp::args("Model","Data",
+                       "Configuration q (size Model::nq)",
+                       "Velocity v (size Model::nv)",
+                       "Torque tau (size Model::nv)"),
+              "Computes the ABA derivatives, put the result in data.ddq_dq, data.ddq_dv and data.Minv\n"
+              "which correspond to the partial derivatives of the joint acceleration vector output with respect to the joint configuration,\n"
+              "velocity and torque vectors.");
+    }
+    
+    
+    
+  } // namespace python
+} // namespace se3