[pinocchio] Do not expose model anymore.

  Model is now exposed by pinocchio python module.

src/pyhpp/pinocchio/bindings.cc

@@ -26,7 +26,6 @@ BOOST_PYTHON_MODULE(bindings) {
 
   boost::python::import("pinocchio");
 
-  pyhpp::pinocchio::exposeModel();
   pyhpp::pinocchio::exposeDevice();
   pyhpp::pinocchio::exposeLiegroup();
 }

src/pyhpp/pinocchio/device.cc

@@ -53,90 +53,6 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(existFrame_overload, Model::existFrame,
 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(addJointFrame_overload,
                                        Model::addJointFrame, 1, 2)
 
-void exposeModel() {
-  class_<Model, ModelPtr_t, boost::noncopyable>("Model", no_init)
-      .add_property("nq", &Model::nq)
-      .add_property("nv", &Model::nv)
-      .add_property("njoints", &Model::njoints)
-      .add_property("nbodies", &Model::nbodies)
-      .add_property("nframes", &Model::nframes)
-      .add_property("inertias", &Model::inertias)
-      .add_property("jointPlacements", &Model::jointPlacements)
-      .add_property("joints", &Model::joints)
-      .add_property("idx_qs", &Model::idx_qs)
-      .add_property("nqs", &Model::nqs)
-      .add_property("idx_vs", &Model::idx_vs)
-      .add_property("nvs", &Model::nvs)
-      .add_property("parents", &Model::parents)
-      .add_property("names", &Model::names)
-      .def_readwrite("name", &Model::name)
-      .def_readwrite("referenceConfigurations", &Model::referenceConfigurations)
-
-      .def_readwrite("rotorInertia", &Model::rotorInertia,
-                     "Vector of rotor inertia parameters.")
-      .def_readwrite("rotorGearRatio", &Model::rotorGearRatio,
-                     "Vector of rotor gear ratio parameters.")
-      .def_readwrite("friction", &Model::friction,
-                     "Vector of joint friction parameters.")
-      .def_readwrite("damping", &Model::damping,
-                     "Vector of joint damping parameters.")
-      .def_readwrite("effortLimit", &Model::effortLimit, "Joint max effort.")
-      .def_readwrite("velocityLimit", &Model::velocityLimit,
-                     "Joint max velocity.")
-      .def_readwrite("lowerPositionLimit", &Model::lowerPositionLimit,
-                     "Limit for joint lower position.")
-      .def_readwrite("upperPositionLimit", &Model::upperPositionLimit,
-                     "Limit for joint upper position.")
-      .def_readwrite("frames", &Model::frames,
-                     "Vector of frames contained in the model.")
-      .def_readwrite("supports", &Model::supports,
-                     "Vector of supports. supports[j] corresponds to the list "
-                     "of joints on the path between\n"
-                     "the current *j* to the root of the kinematic tree.")
-      .def_readwrite("subtrees", &Model::subtrees,
-                     "Vector of subtrees. subtree[j] corresponds to the "
-                     "subtree supported by the joint j.")
-      .def_readwrite("gravity", &Model::gravity,
-                     "Motion vector corresponding to the gravity field "
-                     "expressed in the world Frame.")
-      .def("appendBodyToJoint", &Model::appendBodyToJoint,
-           bp::args("self", "joint_id", "body_inertia", "body_placement"),
-           "Appends a body to the joint given by its index. The body is "
-           "defined by its inertia, its relative placement regarding to the "
-           "joint and its name.")
-      .def("addBodyFrame", &Model::addBodyFrame,
-           bp::args("self", "body_name", "parentJoint", "body_placement",
-                    "previous_frame"),
-           "add a body to the frame tree")
-      .def("getBodyId", &Model::getBodyId, bp::args("self", "name"),
-           "Return the index of a frame of type BODY given by its name")
-      .def("existBodyName", &Model::existBodyName, bp::args("self", "name"),
-           "Check if a frame of type BODY exists, given its name")
-      .def("getJointId", &Model::getJointId, bp::args("self", "name"),
-           "Return the index of a joint given by its name")
-      .def("existJointName", &Model::existJointName, bp::args("self", "name"),
-           "Check if a joint given by its name exists")
-      .def("getFrameId", &Model::getFrameId,
-           getFrameId_overload(
-               bp::args("self", "name", "type"),
-               "Returns the index of the frame given by its name and its type. "
-               "If the frame is not in the frames vector, it returns the "
-               "current size of the frames vector."))
-      .def("existFrame", &Model::existFrame,
-           existFrame_overload(bp::args("self", "name", "type"),
-                               "Returns true if the frame given by its name "
-                               "exists inside the Model with the given type."))
-      .def("hasConfigurationLimit", &Model::hasConfigurationLimit,
-           bp::args("self"),
-           "Returns list of boolean if joints have configuration limit.")
-      .def("hasConfigurationLimitInTangent",
-           &Model::hasConfigurationLimitInTangent, bp::args("self"),
-           "Returns list of boolean if joints have configuration limit in "
-           "tangent space  .")
-      .def(bp::self == bp::self)
-      .def(bp::self != bp::self);
-}
-
 bool Device_currentConfiguration(Device& d, const Configuration_t& c) {
   return d.currentConfiguration(c);
 }