Rebase changes to python bindings from flying branch

python/FootTrajectoryGenerator.cpp

@@ -21,8 +21,11 @@ struct FootTrajectoryGeneratorVisitor
         .def("update", &FootTrajectoryGenerator::update, bp::args("k", "targetFootstep"),
              "Compute target location of footsteps from Python.\n")
 
-        .def("get_elapsed_durations", &FootTrajectoryGenerator::getT0s, "Get the current timings of the flying feet.\n")
-        .def("get_phase_durations", &FootTrajectoryGenerator::getTswing, "Get the flying period of the feet.\n");
+        .def("get_elapsed_durations", &FootTrajectoryGenerator::getT0s,
+             "Get the current timings of the flying feet.\n")
+        .def("get_phase_durations", &FootTrajectoryGenerator::getTswing, "Get the flying period of the feet.\n")
+        .def("get_trajectory_to_target", &FootTrajectoryGenerator::getTrajectoryToTarget, bp::args("j"),
+             "Get the whole swing trajectory from current position to target on the ground.\n");
   }
 
   static void expose() {

python/Gait.cpp

@@ -10,15 +10,21 @@ struct GaitVisitor : public bp::def_visitor<GaitVisitor<Gait>> {
 
         .def("get_past_gait", &Gait::getPastGait, "Get past gait matrix.\n")
         .def("get_gait_matrix", &Gait::getCurrentGait, "Get gait matrix.\n")
+        .def("get_gait_coeff", &Gait::getCurrentGaitCoeff, bp::args("i", "j"), "Get gait coefficient.\n")
         .def("get_desired_gait", &Gait::getDesiredGait, "Get desired gait matrix.\n")
         .def("is_new_step", &Gait::isNewPhase, "True if new phase of the gait.\n")
         .def("is_static", &Gait::getIsStatic, "True if static gait.\n")
+        .def("get_phase_duration", &Gait::getPhaseDuration, bp::args("i", "j", "value"), "Get phase duration.\n")
+        .def("get_remaining_time", &Gait::getRemainingTime, "Get remaining time of the last computed phase.\n")
 
         .def("initialize", &Gait::initialize, bp::args("params"), "Initialize Gait from Python.\n")
 
         .def("update", &Gait::update, bp::args("k", "k_mpc", "joystickCode"),
              "Update current gait matrix from Python.\n")
 
+        .def("set_new_phase", &Gait::setNewPhase, bp::args("value"), "Set value of newPhase_ from Python.\n")
+        .def("set_late", &Gait::setLate, bp::args("i"), "Set value of isLate_ from Python.\n")
+
         .add_property("matrix",
                       bp::make_function(&Gait::getCurrentGait, bp::return_value_policy<bp::return_by_value>()));
   }

python/Joystick.cpp

@@ -8,21 +8,28 @@ struct JoystickVisitor : public bp::def_visitor<JoystickVisitor<Joystick>> {
   void visit(PyClassJoystick& cl) const {
     cl.def(bp::init<>(bp::arg(""), "Default constructor."))
 
-        .def("initialize", &Joystick::initialize, bp::args("params"), "Initialize Joystick from Python.\n")
+            .def("initialize", &Joystick::initialize, bp::args("params"), "Initialize Joystick from Python.\n")
 
-        .def("update_v_ref", &Joystick::update_v_ref, bp::args("k", "gait_is_static"), "Update joystick values.")
+            .def("update_v_ref", &Joystick::update_v_ref, bp::args("k", "gait_is_static"), "Update joystick values.")
+            .def("handle_v_switch", &Joystick::handle_v_switch_py, bp::args("k", "k_switch", "v_switch"),
+                 "Run security check.\n") +
+            .def("update_for_analysis", &Joystick::update_for_analysis,
+                 bp::args("des_vel_analysis", "N_analysis", "N_steady"), "Set test velocity profile.\n")
 
-        .def("get_p_ref", &Joystick::getPRef, "Get Reference Position")
-        .def("get_v_ref", &Joystick::getVRef, "Get Reference Velocity")
-        .def("get_joystick_code", &Joystick::getJoystickCode, "Get Joystick Code")
-        .def("get_start", &Joystick::getStart, "Get Joystick Start")
-        .def("get_stop", &Joystick::getStop, "Get Joystick Stop")
-        .def("get_cross", &Joystick::getCross, "Get Joystick Cross status")
-        .def("get_circle", &Joystick::getCircle, "Get Joystick Circle status")
-        .def("get_triangle", &Joystick::getTriangle, "Get Joystick Triangle status")
-        .def("get_square", &Joystick::getSquare, "Get Joystick Square status")
-        .def("get_l1", &Joystick::getL1, "Get Joystick L1 status")
-        .def("get_r1", &Joystick::getR1, "Get Joystick R1 status");
+            .def("get_p_ref", &Joystick::getPRef, "Get Reference Position")
+            .def("get_v_ref", &Joystick::getVRef, "Get Reference Velocity")
+            .def("get_joystick_code", &Joystick::getJoystickCode, "Get Joystick Code")
+            .def("get_start", &Joystick::getStart, "Get Joystick Start")
+            .def("get_stop", &Joystick::getStop, "Get Joystick Stop")
+            .def("get_cross", &Joystick::getCross, "Get Joystick Cross status")
+            .def("get_circle", &Joystick::getCircle, "Get Joystick Circle status")
+            .def("get_triangle", &Joystick::getTriangle, "Get Joystick Triangle status")
+            .def("get_square", &Joystick::getSquare, "Get Joystick Square status")
+            .def("get_l1", &Joystick::getL1, "Get Joystick L1 status")
+            .def("get_r1", &Joystick::getR1, "Get Joystick R1 status")
+            .def("get_profile_duration", &Joystick::getProfileDuration, "Get duration of current velocity profile")
+            .def("get_last_reached_velocity", &Joystick::getLastReachedVelocity, bp::args("k"),
+                 "Get last reached velocity.\n");
   }
 
   static void expose() { bp::class_<Joystick>("Joystick", bp::no_init).def(JoystickVisitor<Joystick>()); }

python/Params.cpp

@@ -8,7 +8,10 @@ struct ParamsVisitor : public bp::def_visitor<ParamsVisitor<Params>> {
   void visit(PyClassParams& cl) const {
     cl.def(bp::init<>(bp::arg(""), "Default constructor."))
 
-        .def("initialize", &Params::initialize, bp::args("file_path"), "Initialize Params from Python.\n")
+        .def("read_yaml", &Params::read_yaml, bp::args("file_path"),
+             "Read yaml file to retrieve parameters from Python.\n")
+        .def("convert_gait_vec", &Params::convert_gait_vec, "Convert gait vector into matrix.\n")
+        .def("initialize", &Params::initialize, "Initialize Params from Python.\n")
 
         // Read Params from Python
         .def_readwrite("config_file", &Params::config_file)
@@ -32,6 +35,7 @@ struct ParamsVisitor : public bp::def_visitor<ParamsVisitor<Params>> {
         .def_readwrite("Kff_main", &Params::Kff_main)
         .def_readwrite("osqp_w_states", &Params::osqp_w_states)
         .def_readwrite("osqp_w_forces", &Params::osqp_w_forces)
+        .def_readwrite("gait_vec", &Params::gait_vec)
         .def_readonly("gait", &Params::get_gait)
         .def_readonly("t_switch", &Params::get_t_switch)
         .def_readonly("v_switch", &Params::get_v_switch)

python/StatePlanner.cpp

@@ -9,9 +9,10 @@ struct StatePlannerVisitor : public bp::def_visitor<StatePlannerVisitor<StatePla
     cl.def(bp::init<>(bp::arg(""), "Default constructor."))
 
         .def("get_reference_states", &StatePlanner::getReferenceStates, "Get xref matrix.\n")
-        .def("initialize", &StatePlanner::initialize, bp::args("params"), "Initialize StatePlanner from Python.\n")
-        .def("compute_reference_states", &StatePlanner::computeReferenceStates, bp::args("q", "v", "b_vref"),
-             "Run StatePlanner from Python.\n");
+        .def("initialize", &StatePlanner::initialize, bp::args("params", "gaitIn"),
+             "Initialize StatePlanner from Python.\n")
+        .def("compute_reference_states", &StatePlanner::computeReferenceStates,
+             bp::args("k", "q", "v", "b_vref", "fsteps"), "Run StatePlanner from Python.\n");
   }
 
   static void expose() {

python/WbcWrapper.cpp

@@ -23,6 +23,8 @@ struct WbcWrapperVisitor : public bp::def_visitor<WbcWrapperVisitor<WbcWrapper>>
         .def_readonly("vdes", &WbcWrapper::get_vdes)
         .def_readonly("tau_ff", &WbcWrapper::get_tau_ff)
         .def_readonly("ddq_cmd", &WbcWrapper::get_ddq_cmd)
+        .def_readonly("dq_cmd", &WbcWrapper::get_dq_cmd)
+        .def_readonly("q_cmd", &WbcWrapper::get_q_cmd)
         .def_readonly("f_with_delta", &WbcWrapper::get_f_with_delta)
         .def_readonly("ddq_with_delta", &WbcWrapper::get_ddq_with_delta)
         .def_readonly("nle", &WbcWrapper::get_nle)