Allowing WORLD and LOCAL_WORLD_ALIGNED in ContactModel1D

bindings/python/crocoddyl/__init__.py

@@ -29,7 +29,6 @@ def rotationMatrixFromTwoVectors(a, b):
 
 
 class DisplayAbstract:
-
     def __init__(self, rate=-1, freq=1):
         self.rate = rate
         self.freq = freq
@@ -64,7 +63,6 @@ def getFrameTrajectoryFromSolver(self, solver):
 
 
 class GepettoDisplay(DisplayAbstract):
-
     def __init__(self, robot, rate=-1, freq=1, cameraTF=None, floor=True, frameNames=[], visibility=False):
         DisplayAbstract.__init__(self, rate, freq)
         self.robot = robot
@@ -338,7 +336,6 @@ def _setConeMu(self, coneName, mu):
 
 
 class MeshcatDisplay(DisplayAbstract):
-
     def __init__(self, robot, rate=-1, freq=1, openWindow=True):
         DisplayAbstract.__init__(self, rate, freq)
         self.robot = robot
@@ -365,7 +362,6 @@ def _addRobot(self, openWindow):
 
 
 class CallbackDisplay(libcrocoddyl_pywrap.CallbackAbstract):
-
     def __init__(self, display):
         libcrocoddyl_pywrap.CallbackAbstract.__init__(self)
         self.visualization = display
@@ -377,7 +373,6 @@ def __call__(self, solver):
 
 
 class CallbackLogger(libcrocoddyl_pywrap.CallbackAbstract):
-
     def __init__(self):
         libcrocoddyl_pywrap.CallbackAbstract.__init__(self)
         self.xs = []

bindings/python/crocoddyl/deprecated.py

@@ -12,12 +12,10 @@ def deprecated(instructions):
         instructions: A human-friendly string of instructions, such
             as: 'Please migrate to add_proxy() ASAP.'
     """
-
     def decorator(func):
         '''This is a decorator which can be used to mark functions
         as deprecated. It will result in a warning being emitted
         when the function is used.'''
-
         @functools.wraps(func)
         def wrapper(*args, **kwargs):
             message = 'Call to deprecated function {}. {}'.format(func.__name__, instructions)
@@ -35,7 +33,6 @@ def wrapper(*args, **kwargs):
 
 
 class DeprecationHelper(object):
-
     def __init__(self, new_target, old_name):
         self.new_target = new_target
         self.warning_str = '%s is deprecated: Use %s' % (old_name, new_target.__name__)

bindings/python/crocoddyl/multibody/contacts/contact-1d.cpp

@@ -15,24 +15,32 @@ namespace python {
 void exposeContact1D() {
   bp::register_ptr_to_python<boost::shared_ptr<ContactModel1D> >();
 
+  bp::enum_<Contact1DMaskType>("Contact1DMaskType")
+      .value("X_MASK", X_MASK)
+      .value("Y_MASK", Y_MASK)
+      .value("Z_MASK", Z_MASK)
+      .export_values();
+
   bp::class_<ContactModel1D, bp::bases<ContactModelAbstract> >(
       "ContactModel1D",
       "Rigid 1D contact model.\n\n"
       "It defines a rigid 1D contact model (point contact) based on acceleration-based holonomic constraints, in the "
-      "z "
-      "direction.\n"
+      "x, y or z direction.\n"
       "The calc and calcDiff functions compute the contact Jacobian and drift (holonomic constraint) or\n"
       "the derivatives of the holonomic constraint, respectively.",
       bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex, double, std::size_t,
-               bp::optional<Eigen::Vector2d> >(
-          bp::args("self", "state", "id", "xref", "nu", "gains"),
+               bp::optional<Eigen::Vector2d, Contact1DMaskType, pinocchio::ReferenceFrame> >(
+          bp::args("self", "state", "id", "xref", "nu", "gains", "mask", "type"),
           "Initialize the contact model.\n\n"
           ":param state: state of the multibody system\n"
           ":param id: reference frame id of the contact\n"
           ":param xref: contact position used for the Baumgarte stabilization\n"
           ":param nu: dimension of control vector\n"
-          ":param gains: gains of the contact model (default np.matrix([0.,0.]))"))
-      .def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex, double, bp::optional<Eigen::Vector2d> >(
+          ":param gains: gains of the contact model (default np.matrix([0.,0.]))\n"
+          ":param mask: axis of the contact constraint (0=x, 1=y or 2=z)\n"
+          ":param type: reference type of contact"))
+      .def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex, double,
+                    bp::optional<Eigen::Vector2d, pinocchio::ReferenceFrame> >(
           bp::args("self", "state", "id", "xref", "gains"),
           "Initialize the contact model.\n\n"
           ":param state: state of the multibody system\n"
@@ -68,7 +76,13 @@ void exposeContact1D() {
                     &ContactModel1D::set_reference, "reference contact translation")
       .add_property("gains",
                     bp::make_function(&ContactModel1D::get_gains, bp::return_value_policy<bp::return_by_value>()),
-                    "contact gains");
+                    "contact gains")
+      .add_property("mask",
+                    bp::make_function(&ContactModel1D::get_mask, bp::return_value_policy<bp::return_by_value>()),
+                    &ContactModel1D::set_mask, "mask")
+      .add_property("type",
+                    bp::make_function(&ContactModel1D::get_type, bp::return_value_policy<bp::return_by_value>()),
+                    &ContactModel1D::set_type, "type");
 
   bp::register_ptr_to_python<boost::shared_ptr<ContactData1D> >();