add python bindings for passivity-based RNEA

bindings/python/algorithm/expose-rnea.cpp

@@ -108,6 +108,19 @@ namespace pinocchio
         "\tmodel: model of the kinematic tree\n"
         "\tdata: data related to the model\n",
         bp::return_value_policy<bp::return_by_value>());
+
+      bp::def(
+        "passivityRNEA", &passivityRNEA<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs, VectorXs>,
+        bp::args("model", "data", "q", "v", "v_r", "a_r"),
+        "Compute the passivity-based RNEA, store the result in Data and return it.\n\n"
+        "Parameters:\n"
+        "\tmodel: model of the kinematic tree\n"
+        "\tdata: data related to the model\n"
+        "\tq: the joint configuration vector (size model.nq)\n"
+        "\tv: the joint velocity vector (size model.nv)\n"
+        "\tv_r: the auxiliary joint velocity vector (size model.nv)\n"
+        "\ta_r: the auxiliary joint acceleration vector (size model.nv)\n",
+        bp::return_value_policy<bp::return_by_value>());
     }
 
   } // namespace python

unittest/python/bindings_rnea.py

@@ -83,6 +83,14 @@ def test_coriolis_matrix(self):
         ) - pin.rnea(model, data2, self.q, self.v * 0, self.a * 0)
 
         self.assertApprox(tau_coriolis_ref, C.dot(self.v))
+
+    def test_passivity_rnea(self):
+        model = self.model
+
+        tau1 = pin.rnea(self.model, self.data, self.q, self.v, self.a)
+        tau2 = pin.passivityRNEA(self.model, self.data, self.q, self.v, self.v, self.a)
+
+        self.assertApprox(tau1, tau2)
 
 
 if __name__ == "__main__":