Merge pull request #704 from jcarpent/devel

bindings/python: correct bindings of contact dynamics

bindings/python/algorithm/expose-contact-dynamics.cpp

@@ -10,17 +10,30 @@ namespace pinocchio
   namespace python
   {
    
-    BOOST_PYTHON_FUNCTION_OVERLOADS(forwardDynamics_overloads, forwardDynamics, 7, 9)
+    static const Eigen::VectorXd forwardDynamics_proxy(const Model & model,
+                                                       Data & data,
+                                                       const Eigen::VectorXd & q,
+                                                       const Eigen::VectorXd & v,
+                                                       const Eigen::VectorXd & tau,
+                                                       const Eigen::MatrixXd & J,
+                                                       const Eigen::VectorXd & gamma,
+                                                       const double inv_damping = 0.0,
+                                                       const bool updateKinematics = true)
+    {
+      return forwardDynamics(model, data, q, v, tau, J, gamma, inv_damping, updateKinematics);
+    }
+    
+    BOOST_PYTHON_FUNCTION_OVERLOADS(forwardDynamics_overloads, forwardDynamics_proxy, 7, 9)
 
     // TODO: overloading impulseDynamics directly, as done for forwardDynamics, was apparently not working (it crashed for 5 arguments)
     // Therefore, it was necessary to resort to a proxy
-    static const Eigen::VectorXd & impulseDynamics_proxy(const Model & model,
-                                                         Data & data,
-                                                         const Eigen::VectorXd & q,
-                                                         const Eigen::VectorXd & v_before,
-                                                         const Eigen::MatrixXd & J,
-                                                         const double r_coeff = 0.0,
-                                                         const bool updateKinematics = true)
+    static const Eigen::VectorXd impulseDynamics_proxy(const Model & model,
+                                                       Data & data,
+                                                       const Eigen::VectorXd & q,
+                                                       const Eigen::VectorXd & v_before,
+                                                       const Eigen::MatrixXd & J,
+                                                       const double r_coeff = 0.0,
+                                                       const bool updateKinematics = true)
     {
       return impulseDynamics(model, data, q, v_before, J, r_coeff, updateKinematics);
     }
@@ -42,7 +55,7 @@ namespace pinocchio
       using namespace Eigen;
       
       bp::def("forwardDynamics",
-              &forwardDynamics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd,MatrixXd,VectorXd>,
+              &forwardDynamics_proxy,
               forwardDynamics_overloads(
               bp::args("Model","Data",
                        "Joint configuration q (size Model::nq)",
@@ -53,7 +66,7 @@ namespace pinocchio
                        "(double) Damping factor for cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.",                       
                        "Update kinematics (if true, it updates the dynamic variable according to the current state)"),
               "Solves the forward dynamics problem with contacts, puts the result in Data::ddq and return it. The contact forces are stored in data.lambda_c"
-              )[bp::return_value_policy<bp::return_by_value>()]);
+              ));
 
       bp::def("impulseDynamics",
               &impulseDynamics_proxy,
@@ -65,7 +78,8 @@ namespace pinocchio
                        "Coefficient of restitution r_coeff (0 = rigid impact; 1 = fully elastic impact)",
                        "Update kinematics (if true, it updates only the joint space inertia matrix)"),
               "Solve the impact dynamics problem with contacts, put the result in Data::dq_after and return it. The contact impulses are stored in data.impulse_c"
-              )[bp::return_value_policy<bp::return_by_value>()]);
+              ));
+      
       bp::def("getKKTContactDynamicMatrixInverse",getKKTContactDynamicMatrixInverse_proxy,
               bp::args("Model","Data",
                        "Contact Jacobian J(size nb_constraint * Model::nv)"),