Merge pull request #39 from nmansard/devel

Added two minor functionalities in the python bindings

src/python/algorithms.hpp

@@ -134,7 +134,10 @@ namespace se3
                                         const VectorXd_fx & q,
                                         const VectorXd_fx & v)
       {
+	data->M.fill(0);
         computeAllTerms(*model,*data,q,v);
+	data->M.triangularView<Eigen::StrictlyLower>()
+	  = data->M.transpose().triangularView<Eigen::StrictlyLower>();
       }
 
       static void jointLimits_proxy(const ModelHandler & model,

src/python/model.hpp

@@ -94,6 +94,12 @@ namespace se3
       .add_property("fix_hasVisual", bp::make_function(&ModelPythonVisitor::fix_hasVisual, bp::return_internal_reference<>())  )
       .add_property("fix_bodyNames", bp::make_function(&ModelPythonVisitor::fix_bodyNames, bp::return_internal_reference<>())  )
 
+	  // Add here some access of joint data (to be modified when the joints will be binded).
+          .def("joint_nq",    bp::make_function(&ModelPythonVisitor::joint_nq) )
+          .def("joint_nv",    bp::make_function(&ModelPythonVisitor::joint_nv) )
+          .def("joint_idx_q", bp::make_function(&ModelPythonVisitor::joint_idx_q) )
+          .def("joint_idx_v", bp::make_function(&ModelPythonVisitor::joint_idx_v) )
+
       .add_property("gravity",&ModelPythonVisitor::gravity,&ModelPythonVisitor::setGravity)
 	  .def("BuildEmptyModel",&ModelPythonVisitor::maker_empty)
 	  .staticmethod("BuildEmptyModel")
@@ -123,6 +129,11 @@ namespace se3
       static std::vector<bool> & fix_hasVisual ( ModelHandler & m ) { return m->fix_hasVisual; }
       static std::vector<std::string> & fix_bodyNames ( ModelHandler & m ) { return m->fix_bodyNames; }
 
+      static int joint_nq( ModelHandler & m,const Model::Index & idx ) { return se3::nq( m->joints[idx] ); }
+      static int joint_nv( ModelHandler & m,const Model::Index & idx ) { return se3::nv( m->joints[idx] ); }
+      static int joint_idx_q( ModelHandler & m,const Model::Index & idx ) { return se3::idx_q( m->joints[idx] ); }
+      static int joint_idx_v( ModelHandler & m,const Model::Index & idx ) { return se3::idx_v( m->joints[idx] ); }
+
       static Motion gravity( ModelHandler & m ) { return m->gravity; }
       static void setGravity( ModelHandler & m,const Motion_fx & g ) { m->gravity = g; }