[python] Expose forwardDynamics new signatures

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

@@ -17,14 +17,25 @@ namespace pinocchio
                                                        const Eigen::VectorXd & tau,
                                                        const Eigen::MatrixXd & J,
                                                        const Eigen::VectorXd & gamma,
-                                                       const double inv_damping = 0.0,
-                                                       const bool updateKinematics = true)
+                                                       const double inv_damping = 0.0)
     {
-      return forwardDynamics(model, data, q, v, tau, J, gamma, inv_damping, updateKinematics);
+      return forwardDynamics(model, data, q, v, tau, J, gamma, inv_damping);
     }
     
-    BOOST_PYTHON_FUNCTION_OVERLOADS(forwardDynamics_overloads, forwardDynamics_proxy, 7, 9)
+    BOOST_PYTHON_FUNCTION_OVERLOADS(forwardDynamics_overloads, forwardDynamics_proxy, 7, 8)
+
+    static const Eigen::VectorXd forwardDynamics_proxy_no_q(const Model & model,
+                                                            Data & data,
+                                                            const Eigen::VectorXd & tau,
+                                                            const Eigen::MatrixXd & J,
+                                                            const Eigen::VectorXd & gamma,
+                                                            const double inv_damping = 0.0)
+    {
+      return forwardDynamics(model, data, tau, J, gamma, inv_damping);
+    }
     
+    BOOST_PYTHON_FUNCTION_OVERLOADS(forwardDynamics_overloads_no_q, forwardDynamics_proxy_no_q, 5, 6)
+
     static const Eigen::VectorXd impulseDynamics_proxy(const Model & model,
                                                        Data & data,
                                                        const Eigen::VectorXd & q,
@@ -73,8 +84,18 @@ namespace pinocchio
                        "Joint torque tau (size Model::nv)",
                        "Contact Jacobian J (size nb_constraint * Model::nv)",
                        "Contact drift gamma (size nb_constraint)",
-                       "(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)"),
+                       "(double) Damping factor for cholesky decomposition of JMinvJt. Set to zero if constraints are full rank."),
+              "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::def("forwardDynamics",
+              &forwardDynamics_proxy_no_q,
+              forwardDynamics_overloads_no_q(
+              bp::args("Model","Data",
+                       "Joint torque tau (size Model::nv)",
+                       "Contact Jacobian J (size nb_constraint * Model::nv)",
+                       "Contact drift gamma (size nb_constraint)",
+                       "(double) Damping factor for cholesky decomposition of JMinvJt. Set to zero if constraints are full rank."),
               "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"
               ));
 

bindings/python/pinocchio/deprecated.py

@@ -228,3 +228,31 @@ impulseDynamics.__doc__ =  (
   + '\n\nimpulseDynamics( (Model)Model, (Data)Data, (object)Joint configuration q (size Model::nq), (object)Joint velocity before impact v_before (size Model::nv), (object)Contact Jacobian J (size nb_constraint * Model::nv), (float)Coefficient of restitution r_coeff (0 = rigid impact; 1 = fully elastic impact), (bool)updateKinematics) -> object :'
   + '\n    This function signature has been deprecated and will be removed in future releases of Pinocchio.'
 )
+
+# This function is only deprecated when using a specific signature. Therefore, it needs special care
+# Marked as deprecated on 2 Oct 2019
+def forwardDynamics(model, data, *args):
+  if len(args)==7 and type(args[6]) is bool:
+    message = ("This function signature has been deprecated and will be removed in future releases of Pinocchio. "
+               "Please change for the new signature of forwardDynamics(model,data[,q],v,tau,J,gamma[,inv_damping]).")
+    _warnings.warn(message, category=DeprecatedWarning, stacklevel=2)
+    q = args[0]
+    v = args[1]
+    tau = args[2]
+    J = args[3]
+    gamma = args[4]
+    inv_damping = args[5]
+    updateKinematics = args[6]
+    if updateKinematics:
+      return pin.forwardDynamics(model,data,q,v,tau,J,gamma,inv_damping)
+    else:
+      return pin.forwardDynamics(model,data,tau,J,gamma,inv_damping)
+
+  return pin.forwardDynamics(model, data, *args)
+
+forwardDynamics.__doc__ = (
+  pin.forwardDynamics.__doc__
+  + '\n\nforwardDynamics( (Model)Model, (Data)Data, (object)Joint configuration q (size Model::nq), (object)Joint velocity v (size Model::nv), (object)Joint torque tau (size Model::nv), (object)Contact Jacobian J (size nb_constraint * Model::nv), (object)Contact drift gamma (size nb_constraint), (float)(double) Damping factor for cholesky decomposition of JMinvJt. Set to zero if constraints are full rank, (bool)Update kinematics) -> object :'
++ '\n    This function signature has been deprecated and will be removed in future releases of Pinocchio.'
+)
+