Python: corrected a bug in data bindings with Eigen members.

src/python/data.hpp

@@ -34,12 +34,16 @@ namespace se3
 		   bp::make_function(&DataPythonVisitor::NAME,		 \
 				     bp::return_internal_reference<>()), \
 		   DOC)
-      //add_property(#NAME,&DataPythonVisitor::NAME,DOC)
-      //bp::make_function(&ModelPythonVisitor::inertias,
-      //					  bp::return_internal_reference<>())  )
+#define ADD_DATA_PROPERTY_CONST(TYPE,NAME,DOC)				 \
+      add_property(#NAME,						 \
+		   bp::make_function(&DataPythonVisitor::NAME),		 \
+		   DOC)
+
 #define IMPL_DATA_PROPERTY(TYPE,NAME,DOC)			\
       static TYPE & NAME( DataHandler & d ) { return d->NAME; }                
-      
+#define IMPL_DATA_PROPERTY_CONST(TYPE,NAME,DOC)			\
+      static TYPE NAME( DataHandler & d ) { return d->NAME; }                
+       
 	 
       /* --- Exposing C++ API to python through the handler ----------------- */
       template<class PyClass>
@@ -51,21 +55,21 @@ namespace se3
 	  .ADD_DATA_PROPERTY(std::vector<Force>,f,"Body force")
 	  .ADD_DATA_PROPERTY(std::vector<SE3>,oMi,"Body absolute placement (wrt world)")
 	  .ADD_DATA_PROPERTY(std::vector<SE3>,liMi,"Body relative placement (wrt parent)")
-	  .ADD_DATA_PROPERTY(Eigen::VectorXd,tau,"Joint forces")
+	  .ADD_DATA_PROPERTY_CONST(Eigen::VectorXd,tau,"Joint forces")
 	  .ADD_DATA_PROPERTY(std::vector<Inertia>,Ycrb,"Inertia of the sub-tree composit rigid body")
-	  .ADD_DATA_PROPERTY(Eigen::MatrixXd,M,"Joint Inertia")
-	  .ADD_DATA_PROPERTY(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
+	  .ADD_DATA_PROPERTY_CONST(Eigen::MatrixXd,M,"Joint Inertia")
+	  .ADD_DATA_PROPERTY_CONST(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
 	  .ADD_DATA_PROPERTY(std::vector<Model::Index>,lastChild,"Index of the last child (for CRBA)")
 	  .ADD_DATA_PROPERTY(std::vector<int>,nvSubtree,"Dimension of the subtree motion space (for CRBA)")
-	  .ADD_DATA_PROPERTY(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
-	  .ADD_DATA_PROPERTY(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
+	  .ADD_DATA_PROPERTY_CONST(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
+	  .ADD_DATA_PROPERTY_CONST(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
 	  .ADD_DATA_PROPERTY(std::vector<int>,parents_fromRow,"First previous non-zero row in M (used in Cholesky)")
 	  .ADD_DATA_PROPERTY(std::vector<int>,nvSubtree_fromRow,"")
-	  .ADD_DATA_PROPERTY(Eigen::MatrixXd,J,"Jacobian of joint placement")
+	  .ADD_DATA_PROPERTY_CONST(Eigen::MatrixXd,J,"Jacobian of joint placement")
 	  .ADD_DATA_PROPERTY(std::vector<SE3>,iMf,"Body placement wrt to algorithm end effector.")
-	  .ADD_DATA_PROPERTY(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
+	  .ADD_DATA_PROPERTY_CONST(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
 	  .ADD_DATA_PROPERTY(std::vector<double>,mass,"Subtree total mass.")
-	  .ADD_DATA_PROPERTY(Matrix3x,Jcom,"Jacobian of center of mass.")
+	  .ADD_DATA_PROPERTY_CONST(Matrix3x,Jcom,"Jacobian of center of mass.")
 	  ;
       }
 
@@ -74,24 +78,24 @@ namespace se3
       IMPL_DATA_PROPERTY(std::vector<Force>,f,"Body force")
       IMPL_DATA_PROPERTY(std::vector<SE3>,oMi,"Body absolute placement (wrt world)")
       IMPL_DATA_PROPERTY(std::vector<SE3>,liMi,"Body relative placement (wrt parent)")
-      IMPL_DATA_PROPERTY(Eigen::VectorXd,tau,"Joint forces")
+      IMPL_DATA_PROPERTY_CONST(Eigen::VectorXd,tau,"Joint forces")
       IMPL_DATA_PROPERTY(std::vector<Inertia>,Ycrb,"Inertia of the sub-tree composit rigid body")
-      IMPL_DATA_PROPERTY(Eigen::MatrixXd,M,"Joint Inertia")
-      IMPL_DATA_PROPERTY(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
+      IMPL_DATA_PROPERTY_CONST(Eigen::MatrixXd,M,"Joint Inertia")
+      IMPL_DATA_PROPERTY_CONST(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
       IMPL_DATA_PROPERTY(std::vector<Model::Index>,lastChild,"Index of the last child (for CRBA)")
       IMPL_DATA_PROPERTY(std::vector<int>,nvSubtree,"Dimension of the subtree motion space (for CRBA)")
-      IMPL_DATA_PROPERTY(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
-      IMPL_DATA_PROPERTY(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
+      IMPL_DATA_PROPERTY_CONST(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
+      IMPL_DATA_PROPERTY_CONST(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
       IMPL_DATA_PROPERTY(std::vector<int>,parents_fromRow,"First previous non-zero row in M (used in Cholesky)")
       IMPL_DATA_PROPERTY(std::vector<int>,nvSubtree_fromRow,"")
-      IMPL_DATA_PROPERTY(Eigen::MatrixXd,J,"Jacobian of joint placement")
+      IMPL_DATA_PROPERTY_CONST(Eigen::MatrixXd,J,"Jacobian of joint placement")
       IMPL_DATA_PROPERTY(std::vector<SE3>,iMf,"Body placement wrt to algorithm end effector.")
-      IMPL_DATA_PROPERTY(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
+      IMPL_DATA_PROPERTY_CONST(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
       IMPL_DATA_PROPERTY(std::vector<double>,mass,"Subtree total mass.")
-      IMPL_DATA_PROPERTY(Matrix3x,Jcom,"Jacobian of center of mass.")
-	
-	/* --- Expose --------------------------------------------------------- */
-	static void expose()
+      IMPL_DATA_PROPERTY_CONST(Matrix3x,Jcom,"Jacobian of center of mass.")
+
+      /* --- Expose --------------------------------------------------------- */
+      static void expose()
       {
 	bp::class_<DataHandler>("Data",
 				"Articulated rigid body data (const)",