python/test: add test for kinematic regressors

unittest/python/CMakeLists.txt

@@ -24,6 +24,7 @@ SET(${PROJECT_NAME}_PYTHON_TESTS
 
   # Algo
   bindings_com
+  bindings_kinematic_regressor
   bindings_regressor
   bindings_dynamics
   bindings_kinematics

unittest/python/bindings_kinematic_regressor.py

+import unittest
+from test_case import PinocchioTestCase as TestCase
+import pinocchio as pin
+
+class TestKinematicRegressorBindings(TestCase):
+
+    def test_all(self):
+        model = pin.buildSampleModelHumanoidRandom()
+
+        joint_name = "larm6_joint"
+        joint_id = model.getJointId(joint_name)
+        frame_id = model.addBodyFrame("test_body", joint_id, pin.SE3.Identity(), -1)
+
+        data = model.createData()
+
+        model.lowerPositionLimit[:7] = -1.
+        model.upperPositionLimit[:7] = 1.
+
+        q = pin.randomConfiguration(model)
+        pin.forwardKinematics(model,data,q)
+
+        R1 = pin.computeJointKinematicRegressor(model,data,joint_id,pin.ReferenceFrame.LOCAL,pin.SE3.Identity())
+        R2 = pin.computeJointKinematicRegressor(model,data,joint_id,pin.ReferenceFrame.LOCAL)
+
+        self.assertApprox(R1,R2)
+
+        R3 = pin.computeFrameKinematicRegressor(model,data,frame_id,pin.ReferenceFrame.LOCAL)
+        self.assertApprox(R1,R3)
+
+if __name__ == '__main__':
+    unittest.main()
+