[python api] addNewContact : add optional parameter 'lockOtherJoints'

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -747,8 +747,10 @@ module hpp
     /// \param p 3d position of the point
     /// \param n 3d normal of the contact location center
     /// \param max_num_sample number of times it will try to randomly sample a configuration before failing
+    /// \param lockOtherJoints : if True, the values of all the joints exepct the ones of 'limbName' are constrained to be constant.
+    ///                           This only affect the first projection, if max_num_sample > 0 and the first projection was unsuccessfull, the parameter is ignored
     /// \return (success,NState) whether the creation was successful, as well as the new state
-    short addNewContact(in unsigned short stateId, in string limbName, in floatSeq position, in floatSeq normal, in unsigned short max_num_sample) raises (Error);
+    short addNewContact(in unsigned short stateId, in string limbName, in floatSeq position, in floatSeq normal, in unsigned short max_num_sample, in boolean lockOtherJoints) raises (Error);
 
     /// removes a contact from the state
     /// if the limb is not already in contact, does nothing

src/rbprmbuilder.impl.cc

@@ -3230,7 +3230,7 @@ namespace hpp {
 
 
     CORBA::Short RbprmBuilder::addNewContact(unsigned short stateId, const char* limbName,
-                                        const hpp::floatSeq& position, const hpp::floatSeq& normal, unsigned short max_num_sample) throw (hpp::Error)
+                                        const hpp::floatSeq& position, const hpp::floatSeq& normal, unsigned short max_num_sample, bool lockOtherJoints) throw (hpp::Error)
     {
         try
         {
@@ -3244,7 +3244,7 @@ namespace hpp {
             config = dofArrayToConfig (std::size_t(3), normal);
             fcl::Vec3f n; for(int i =0; i<3; ++i) n[i] = config[i];
 
-            projection::ProjectionReport rep = projection::projectStateToObstacle(fullBody(),limb, fullBody()->GetLimbs().at(limb), ns, n,p);
+            projection::ProjectionReport rep = projection::projectStateToObstacle(fullBody(),limb, fullBody()->GetLimbs().at(limb), ns, n,p,lockOtherJoints);
             hppDout(notice,"Projection State to obstacle success : "<<rep.success_);
             hppDout(notice,"report status : "<<rep.status_);
             ValidationReportPtr_t rport (ValidationReportPtr_t(new CollisionValidationReport));

src/rbprmbuilder.impl.hh

@@ -349,7 +349,7 @@ namespace hpp {
         virtual Names_t* getContactsVariations(unsigned short stateIdFrom,unsigned short stateIdTo )throw (hpp::Error);
         virtual Names_t* getAllLimbsNames()throw (hpp::Error);
         virtual CORBA::Short addNewContact(unsigned short stateId, const char* limbName,
-                                            const hpp::floatSeq& position, const hpp::floatSeq& normal, unsigned short max_num_sample) throw (hpp::Error);
+                                            const hpp::floatSeq& position, const hpp::floatSeq& normal, unsigned short max_num_sample, bool lockOtherJoints) throw (hpp::Error);
         virtual CORBA::Short removeContact(unsigned short stateId, const char* limbName) throw (hpp::Error);
         virtual hpp::floatSeq* computeTargetTransform(const char* limbName, const hpp::floatSeq& configuration, const hpp::floatSeq& p, const hpp::floatSeq& n) throw (hpp::Error);
         virtual Names_t* getEffectorsTrajectoriesNames(unsigned short pathId)throw (hpp::Error);