[python] Included setter for nu + updated changelog

Sergim96 · Dec 4, 2023 · 11c10cb · 11c10cb
1 parent 0d723a1
commit 11c10cb
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Showing 3 changed files with 10 additions and 3 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+* Added nu, ng, and nh setters for Python bindings in https://github.com/loco-3d/crocoddyl/pull/1192
+
 ## [2.0.2] - 2023-11-30
 
 * Added CHANGELOG.md in https://github.com/loco-3d/crocoddyl/pull/1188

diff --git a/bindings/python/crocoddyl/core/action-base.cpp b/bindings/python/crocoddyl/core/action-base.cpp
@@ -116,8 +116,11 @@ void exposeActionAbstract() {
       .def("quasiStatic", &ActionModelAbstract_wrap::quasiStatic,
            &ActionModelAbstract_wrap::default_quasiStatic,
            bp::args("self", "data", "u", "x", "maxiter", "tol"))
-      .add_property("nu", bp::make_function(&ActionModelAbstract_wrap::get_nu),
-                    "dimension of control vector")
+      .add_property(
+          "nu", bp::make_function(&ActionModelAbstract_wrap::get_nu),
+          bp::make_setter(
+              &ActionModelAbstract_wrap::nu_,
+              bp::return_internal_reference<>()) "dimension of control vector")
       .add_property("nr", bp::make_function(&ActionModelAbstract_wrap::get_nr),
                     "dimension of cost-residual vector")
       .add_property("ng", bp::make_function(&ActionModelAbstract_wrap::get_ng),

diff --git a/bindings/python/crocoddyl/core/action-base.hpp b/bindings/python/crocoddyl/core/action-base.hpp
@@ -1,7 +1,8 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh
+// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+//                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
@@ -22,6 +23,7 @@ class ActionModelAbstract_wrap : public ActionModelAbstract,
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   using ActionModelAbstract::ng_;
   using ActionModelAbstract::nh_;
+  using ActionModelAbstract::nu_;
 
   ActionModelAbstract_wrap(boost::shared_ptr<StateAbstract> state,
                            const std::size_t nu, const std::size_t nr = 1,