update bindings centroidal MPC

ami-iit · Jun 28, 2023 · a8d6a8c · a8d6a8c
1 parent fc5d968
commit a8d6a8c
Showing 1 changed file with 12 additions and 14 deletions.
diff --git a/bindings/python/ReducedModelControllers/src/CentroidalMPC.cpp b/bindings/python/ReducedModelControllers/src/CentroidalMPC.cpp
@@ -26,32 +26,30 @@ void CreateCentroidalMPC(pybind11::module& module)
     using namespace BipedalLocomotion::ReducedModelControllers;
     using namespace BipedalLocomotion::System;
 
-    py::class_<CentroidalMPCState>(module, "CentroidalMPCState")
+    py::class_<CentroidalMPCOutput>(module, "CentroidalMPCState")
         .def(py::init())
-        .def_readwrite("contacts", &CentroidalMPCState::contacts)
-        .def_readwrite("next_planned_contact", &CentroidalMPCState::nextPlannedContact)
-        .def_readwrite("computational_time", &CentroidalMPCState::computationalTime)
-        .def_readwrite("external_wrench",&CentroidalMPCState::externalWrench);
+        .def_readwrite("contacts", &CentroidalMPCOutput::contacts)
+        .def_readwrite("next_planned_contact", &CentroidalMPCOutput::nextPlannedContact);
 
-    BipedalLocomotion::bindings::System::CreateSource<CentroidalMPCState>(module,
-                                                                        "CentroidalMPCState");
-    py::class_<CentroidalMPC, Source<CentroidalMPCState>>(module, "CentroidalMPC")
+    BipedalLocomotion::bindings::System::CreateSource<CentroidalMPCOutput>(module,
+                                                                        "CentroidalMPCOutput");
+    py::class_<CentroidalMPC, Source<CentroidalMPCOutput>>(module, "CentroidalMPC")
         .def(py::init())
         .def("initialize", [](CentroidalMPC& impl,
                std::shared_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler>
                    handler) -> bool { return impl.initialize(handler);}, 
             py::arg("handler"))
         .def("set_contact_phase_list", py::overload_cast<const Contacts::ContactPhaseList&>(&CentroidalMPC::setContactPhaseList),
             py::arg("contactPhaseList") )
-        .def("set_state", py::overload_cast<Eigen::Ref<const Eigen::Vector3d>,Eigen::Ref<const Eigen::Vector3d>,Eigen::Ref<const Eigen::Vector3d>,std::optional<Eigen::Ref<const Eigen::Vector3d>>>(&CentroidalMPC::setState), 
+        .def("set_state", py::overload_cast<Eigen::Ref<const Eigen::Vector3d>,Eigen::Ref<const Eigen::Vector3d>,Eigen::Ref<const Eigen::Vector3d>>(&CentroidalMPC::setState), 
             py::arg("com"), 
             py::arg("dcom"),
-            py::arg("angularMomentum"), 
-            py::arg("externalWrench"))
-        .def("set_reference_trajectory", py::overload_cast<Eigen::Ref<const Eigen::MatrixXd>>(&CentroidalMPC::setReferenceTrajectory), 
-            py::arg("com"))
+            py::arg("angularMomentum"))
+        .def("set_reference_trajectory", py::overload_cast<const std::vector<Eigen::Vector3d>&,const std::vector<Eigen::Vector3d>&>(&CentroidalMPC::setReferenceTrajectory), 
+            py::arg("com"),
+            py::arg("angularMomentum"))
         .def("get_output",  
-                [](const CentroidalMPC& l) -> const CentroidalMPCState& {
+                [](const CentroidalMPC& l) -> const CentroidalMPCOutput& {
                 return l.getOutput();
             })
         .def("is_output_valid", &CentroidalMPC::isOutputValid)