Merge pull request #19 from pFernbach/devel

Add jupyter notebooks

README.md

@@ -41,13 +41,13 @@ make test
 
 ## Main classes
 
-This package define 3 main classes representing physical concepts of legged locomotion. Contact Patch, Contact Phase and Contact Sequence.
+This package define 4 main classes representing physical concepts of legged locomotion. Contact Model, Contact Patch, Contact Phase and Contact Sequence.
 
-### Contact Patch
+A Contact Model define the physical properties of a contact. A Contact Patch define completely a contact between a part of the robot and the environment, it contain a Contact Model. A Contact Phase is defined by a constant set of contacts, it contains one or more Contact Patches. Finally, a Contact Sequence is a sequence of Contact Phases.
 
-A contact patch define the placement (in SE(3), in the world frame) of a contact as long as the friction coefficient for this contact.
+### Contact Patch
 
-Future work will also include the type of contact (eg planar, punctual, bilateral ...), a representation of the friction cone or additional information about the contact.
+A contact patch define the placement (in SE(3), in the world frame) of a contact between a part of the robot and the environment. It contains a ContactModel.
 
 ### Contact Phase
 

include/multicontact-api/bindings/python/scenario/contact-patch.hpp

@@ -19,13 +19,16 @@ template <typename ContactPatch>
 struct ContactPatchPythonVisitor : public boost::python::def_visitor<ContactPatchPythonVisitor<ContactPatch> > {
   typedef typename ContactPatch::Scalar Scalar;
   typedef typename ContactPatch::SE3 SE3;
+  typedef typename ContactPatch::ContactModel ContactModel;
 
   template <class PyClass>
   void visit(PyClass& cl) const {
     cl.def(bp::init<>(bp::arg(""), "Default constructor."))
         .def(bp::init<SE3>(bp::arg("placement"), "Init with a given placement."))
         .def(bp::init<SE3, Scalar>(bp::args("placement", "friction"),
                                    "Init with a given placement and friction coefficient."))
+        .def(bp::init<SE3, ContactModel>(bp::args("placement", "contact_model"),
+                                   "Init with a given placement and contact model."))
         .def(bp::init<ContactPatch>(bp::arg("other"), "Copy contructor."))
         .add_property("placement",
                       // getter require to use "make_function" to pass the return_internal_reference policy (return ref

include/multicontact-api/scenario/contact-patch.hpp

@@ -28,6 +28,9 @@ struct ContactPatchTpl : public serialization::Serializable<ContactPatchTpl<_Sca
   /// \brief Init contact patch from a given placement and a friction coefficient
   ContactPatchTpl(const SE3& placement, const Scalar mu) : m_contact_model(mu), m_placement(placement) {}
 
+  /// \brief Init contact patch from a given placement and a contact model
+  ContactPatchTpl(const SE3& placement, const ContactModel contact_model) : m_contact_model(contact_model), m_placement(placement) {}
+
   /// \brief Copy constructor
   ContactPatchTpl(const ContactPatchTpl& other)
       : m_contact_model(other.m_contact_model), m_placement(other.m_placement) {}