[core/python] Expose more convenience getters.

duburcqa · Mar 22, 2024 · d049eff · d049eff
1 parent 0c41abe
commit d049eff
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/core/include/jiminy/core/engine/engine.h b/core/include/jiminy/core/engine/engine.h
@@ -664,7 +664,7 @@ namespace jiminy
         GenericConfig getOptions() const noexcept;
         void setOptions(const GenericConfig & engineOptions);
         bool getIsTelemetryConfigured() const;
-        std::shared_ptr<Robot> & getRobot(const std::string & robotName);
+        std::shared_ptr<Robot> getRobot(const std::string & robotName);
         std::ptrdiff_t getRobotIndex(const std::string & robotName) const;
         const RobotState & getRobotState(const std::string & robotName) const;
         const StepperState & getStepperState() const;

diff --git a/core/src/engine/engine.cc b/core/src/engine/engine.cc
@@ -2776,7 +2776,7 @@ namespace jiminy
         return std::distance(robots_.begin(), robotIt);
     }
 
-    std::shared_ptr<Robot> & Engine::getRobot(const std::string & robotName)
+    std::shared_ptr<Robot> Engine::getRobot(const std::string & robotName)
     {
         std::ptrdiff_t robotIndex = getRobotIndex(robotName);
         return robots_[robotIndex];

diff --git a/python/jiminy_pywrap/src/engine.cc b/python/jiminy_pywrap/src/engine.cc
@@ -770,7 +770,10 @@ namespace jiminy::python
             .def("get_options", &Engine::getOptions)
 
             .DEF_READONLY_WITH_POLICY(
-                "robots", &Engine::robots_, bp::return_value_policy<result_converter<true>>())
+                "robots", &Engine::robots_, bp::return_value_policy<result_converter<false>>())
+            .def("get_robot", &Engine::getRobot, (bp::arg("self"), "robot_name"))
+            .def("get_robot_index", &Engine::getRobotIndex, (bp::arg("self"), "robot_name"))
+            .def("get_robot_state", &Engine::getRobotState, (bp::arg("self"), "robot_name"))
 
             .ADD_PROPERTY_GET("robot_states", &internal::engine::getRobotStates)
             .ADD_PROPERTY_GET_WITH_POLICY("stepper_state",