[Python] Expose default signature of existFrame

bindings/python/multibody/model.hpp

@@ -20,6 +20,7 @@
 #define __se3_python_model_hpp__
 
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include <boost/python/overloads.hpp>
 #include <eigenpy/memory.hpp>
 
 #include "pinocchio/multibody/model.hpp"
@@ -35,6 +36,8 @@ namespace se3
   {
     namespace bp = boost::python;
 
+    BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(existFrame_overload,Model::existFrame,1,2)
+    
     struct ModelPythonVisitor
       : public boost::python::def_visitor< ModelPythonVisitor >
     {
@@ -128,7 +131,9 @@ namespace se3
           .def("getJointId",&Model::getJointId, bp::args("name"), "Return the index of a joint given by its name")
           .def("existJointName", &Model::existJointName, bp::args("name"), "Check if a joint given by its name exists")
           .def("getFrameId",&Model::getFrameId,bp::args("name"),"Returns the index of the frame given by its name. If the frame is not in the frames vector, it returns the current size of the frames vector.")
-          .def("existFrame",&Model::existFrame,bp::args("name"),"Returns true if the frame given by its name exists inside the Model.")
+       
+        .def("existFrame",&Model::existFrame,existFrame_overload(bp::arg("name"),"Returns true if the frame given by its name exists inside the Model.")) 
+        .def("existFrame",&Model::existFrame,existFrame_overload(bp::args("name","type"),"Returns true if the frame given by its name exists inside the Model with the given type."))
 
         .def("addFrame",(bool (Model::*)(const std::string &,const JointIndex, const FrameIndex, const SE3 &,const FrameType &)) &Model::addFrame,bp::args("name","parent_id","placement","type"),"Add a frame to the vector of frames. See also Frame for more details. Returns False if the frame already exists.")
         .def("addFrame",(bool (Model::*)(const Frame &)) &Model::addFrame,bp::args("frame"),"Add a frame to the vector of frames.")