Added bindings for set and get active joint mask and small test

Author: EnricoMingo

bindings/python/basic.hpp

@@ -106,6 +106,8 @@ void pyConstraint(py::module& m, const std::string& className) {
             .def("update", &Constraint<MatrixType, VectorType>::update)
             .def("log", &Constraint<MatrixType, VectorType>::log)
             .def("checkConsistency", &Constraint<MatrixType, VectorType>::checkConsistency)
+            .def("getActiveJointsMask", &Constraint<MatrixType, VectorType>::getActiveJointsMask)
+            .def("setActiveJointsMask", &Constraint<MatrixType, VectorType>::setActiveJointsMask)
             .def("__mod__", [](const std::shared_ptr<Constraint<MatrixType, VectorType>> constraint, const std::list<unsigned int>& rowIndices) {
                 return constraint % rowIndices;});
 }

bindings/python/tests/pyopensot_aggregated_tests.py

@@ -79,3 +79,16 @@
 print(f"sc4.getbUpperBound(): {sc4.getbUpperBound()}")
 print(f"sc4.getbLowerBound(): {sc4.getbLowerBound()}")
 
+c1_joint_mask = c1.getActiveJointsMask()
+print(f"c1_joint_mask: {c1_joint_mask}")
+c1_joint_mask[1] = False
+c1.setActiveJointsMask(c1_joint_mask)
+
+c4.update()
+print(f"c4.getAineq(): {c4.getAineq()}")
+
+c4.setActiveJointsMask(c1_joint_mask)
+c4.update()
+print(f"c4.getAineq(): {c4.getAineq()}")
+
+