Merge pull request #143 from pariterre/master

Made it possible to send None for Q, Qdot and Qddot pointers

Author: pariterre

CMakeLists.txt

@@ -3,7 +3,7 @@ if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.0")
     cmake_policy(SET CMP0042 NEW)
 endif()
 
-project(biorbd VERSION 1.2.3)
+project(biorbd VERSION 1.3.0)
 set (CMAKE_CXX_STANDARD 11)
 set (BIORBD_NAME ${PROJECT_NAME})
 

binding/python3/biorbd_python.i.in

@@ -444,8 +444,7 @@ biorbd::rigidbody::GeneralizedCoordinates & {
         }
     }
 };
-%typemap(typecheck, precedence=2101)
-biorbd::rigidbody::GeneralizedCoordinates * {
+%typemap(typecheck, precedence=2101) biorbd::rigidbody::GeneralizedCoordinates * {
     void *argp1 = 0;
 #ifdef BIORBD_USE_CASADI_MATH
     if (SWIG_IsOK(SWIG_ConvertPtr($input, &argp1, SWIGTYPE_p_casadi__MX,  0  | 0)) && argp1) {
@@ -465,7 +464,10 @@ biorbd::rigidbody::GeneralizedCoordinates * {
         // test if it is a numpy array
         $1 = true;
     }
-    else {
+    else if ($input == Py_None){
+        $1 = true;
+    }
+    else{
         $1 = false;
     }
 }
@@ -506,6 +508,9 @@ biorbd::rigidbody::GeneralizedCoordinates * {
             (*$1)[q] = *(double*)PyArray_GETPTR1((PyArrayObject*)data, q);
         }
     }
+    else if ($input == Py_None) {
+        $1 = nullptr;
+    }
 };
 
 // --- GeneralizedVelocity --- //
@@ -594,6 +599,9 @@ biorbd::rigidbody::GeneralizedVelocity * {
         // test if it is a numpy array
         $1 = true;
     }
+    else if ($input == Py_None){
+        $1 = true;
+    }
     else {
         $1 = false;
     }
@@ -635,6 +643,9 @@ biorbd::rigidbody::GeneralizedVelocity * {
             (*$1)[qdot] = *(double*)PyArray_GETPTR1((PyArrayObject*)data, qdot);
         }
     }
+    else if ($input == Py_None){
+        $1 = nullptr;
+    }
 };
 
 // --- GeneralizedAcceleration --- //
@@ -723,6 +734,9 @@ biorbd::rigidbody::GeneralizedAcceleration * {
         // test if it is a numpy array
         $1 = true;
     }
+    else if ($input == Py_None){
+        $1 = true;
+    }
     else {
         $1 = false;
     }
@@ -764,6 +778,9 @@ biorbd::rigidbody::GeneralizedAcceleration * {
             (*$1)[qddot] = *(double*)PyArray_GETPTR1((PyArrayObject*)data, qddot);
         }
     }
+    else if ($input == Py_None){
+        $1 = nullptr;
+    }
 };
 
 // --- GeneralizedTorque --- //