[bindings][python] expose referenceConfigurations and loadReferenceCo…

…nfigurations. Make previous functions deprecated
stack-of-tasks · Feb 13, 2019 · a24594d · a24594d
1 parent b36be07
commit a24594d
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Showing 3 changed files with 22 additions and 7 deletions.
diff --git a/bindings/python/multibody/model.hpp b/bindings/python/multibody/model.hpp
@@ -7,6 +7,7 @@
 #define __pinocchio_python_model_hpp__
 
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include <boost/python/suite/indexing/map_indexing_suite.hpp>
 #include <boost/python/overloads.hpp>
 #include <eigenpy/memory.hpp>
 
@@ -15,6 +16,7 @@
 #include "pinocchio/algorithm/check.hpp"
 #include "pinocchio/parsers/sample-models.hpp"
 #include "pinocchio/bindings/python/utils/eigen_container.hpp"
+#include "pinocchio/bindings/python/utils/std-aligned-map.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 
@@ -87,6 +89,11 @@ namespace pinocchio
                       make_getter(&Model::neutralConfiguration, bp::return_value_policy<bp::return_by_value>()),
                       make_setter(&Model::neutralConfiguration, bp::return_value_policy<bp::return_by_value>()),
                       "Joint's neutral configurations.")
+
+        .add_property("referenceConfigurations",
+                      make_getter(&Model::referenceConfigurations, bp::return_value_policy<bp::return_by_value>()),
+                      make_setter(&Model::referenceConfigurations, bp::return_value_policy<bp::return_by_value>()),
+                      "Model reference configurations.")
         .add_property("rotorInertia",
                       make_getter(&Model::rotorInertia, bp::return_value_policy<bp::return_by_value>()),
                       make_setter(&Model::rotorInertia, bp::return_value_policy<bp::return_by_value>()),
@@ -197,7 +204,9 @@ namespace pinocchio
         bp::class_< std::vector<bool> >("StdVec_Bool")
           .def(bp::vector_indexing_suite< std::vector<bool> >());
         bp::class_< std::vector<double> >("StdVec_double")
-          .def(bp::vector_indexing_suite< std::vector<double> >()); 
+          .def(bp::vector_indexing_suite< std::vector<double> >());
+
+        StdAlignedMapPythonVisitor<std::string, Model::ConfigVectorType>::expose("StdMap_string");
 
         bp::class_<Model>("Model",
                           "Articulated rigid body model (const)",

diff --git a/bindings/python/parsers/parsers.hpp b/bindings/python/parsers/parsers.hpp
@@ -208,12 +208,12 @@ namespace pinocchio
               "Parse the URDF file given in input and return a proper pinocchio model");
 #endif // #ifdef PINOCCHIO_WITH_LUA5
 
-      bp::def("getNeutralConfiguration",
-              static_cast<Model::ConfigVectorType (*)(Model &, const std::string &, const bool)>(&srdf::getNeutralConfiguration),
+      bp::def("loadReferenceConfigurations",
+              static_cast<void (*)(Model &, const std::string &, const bool)>(&srdf::loadReferenceConfigurations),
               bp::args("Model for which we want the neutral config","srdf filename (string)", "verbosity"
                        ),
-              "Get the neutral configuration of a given model associated to a SRDF file");
-
+              "Get the reference configurations of a given model from the SRDF file.");
+     
       bp::def("loadRotorParameters",
               static_cast<bool (*)(Model &, const std::string &, const bool)>(&srdf::loadRotorParameters),
               bp::args("Model for which we are loading the rotor parameters",

diff --git a/bindings/python/scripts/deprecated.py b/bindings/python/scripts/deprecated.py
@@ -72,9 +72,15 @@ def getJacobianTimeVariation(model,data,jointId,local):
 def differentiate(model,q0,q1):
   return pin.difference(model,q0,q1)
 
-@deprecated("This function has been renamed difference and will be removed in future releases of Pinocchio. Please change for new getNeutralConfiguration function.")
+@deprecated("This function has been renamed loadReferenceConfigurations and will be removed in future releases of Pinocchio. Please change for new loadReferenceConfigurations function.")
 def getNeutralConfigurationFromSrdf(model, filename, verbose):
-  return pin.getNeutralConfiguration(model,filename,verbose)
+  pin.loadReferenceConfigurations(model,filename,verbose)
+  return model.referenceConfigurations["half_sitting"]
+
+@deprecated("This function has been renamed loadReferenceConfigurations and will be removed in future releases of Pinocchio. Please change for new loadReferenceConfigurations function.")
+def getNeutralConfiguration(model, filename, verbose):
+  pin.loadReferenceConfigurations(model,filename,verbose)
+  return model.referenceConfigurations["half_sitting"]
 
 @deprecated("This function has been renamed difference and will be removed in future releases of Pinocchio. Please change for new loadRotorParameters function.")
 def loadRotorParamsFromSrdf(model, filename, verbose):