[Python] Expose the algo for derivation of the centroidal momentum matrix

bindings/python/algorithm/expose-crba.cpp

@@ -47,6 +47,13 @@ namespace se3
               "Computes the centroidal mapping, the centroidal momentum and the Centroidal Composite Rigid Body Inertia, puts the result in Data and returns the centroidal mapping.",
               bp::return_value_policy<bp::return_by_value>());
       
+      bp::def("dccrba",dccrba,
+              bp::args("Model","Data",
+                       "Joint configuration q (size Model::nq)",
+                       "Joint velocity v (size Model::nv)"),
+              "Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v. It computes also the same information than ccrtba for the same price.",
+              bp::return_value_policy<bp::return_by_value>());
+      
     }
     
   } // namespace python

bindings/python/multibody/data.hpp

@@ -88,6 +88,8 @@ namespace se3
         
         .ADD_DATA_PROPERTY_READONLY_BYVALUE(Matrix6x,Ag,
                                  "Centroidal matrix which maps from joint velocity to the centroidal momentum.")
+        .ADD_DATA_PROPERTY_READONLY_BYVALUE(Matrix6x,dAg,
+                                 "Time derivative of the centroidal momentum matrix Ag.")
         .ADD_DATA_PROPERTY_READONLY(Force,hg,
                                     "Centroidal momentum (expressed in the frame centered at the CoM and aligned with the inertial frame).")
         .ADD_DATA_PROPERTY_READONLY(Inertia,Ig,