[python] Using Eigen::Ref<const Eigen::VectorXd> for bindings

cmastalli · Dec 13, 2023 · 4cbaae1 · 4cbaae1
1 parent d9c1a12
commit 4cbaae1
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/crocoddyl_ros.cpp b/src/crocoddyl_ros.cpp
@@ -179,7 +179,7 @@ PYBIND11_MODULE(crocoddyl_ros, m) {
            py::arg("model"), py::arg("topic") = "/crocoddyl/whole_body_state",
            py::arg("frame") = "odom")
       .def(py::init<pinocchio::Model &, const std::vector<std::string> &,
-                    const Eigen::VectorXd &, const std::string &,
+                    const Eigen::Ref<const Eigen::VectorXd> &, const std::string &,
                     const std::string &>(),
            py::arg("model"), py::arg("locked_joints"), py::arg("qref"),
            py::arg("topic") = "/crocoddyl/whole_body_state",
@@ -203,7 +203,7 @@ PYBIND11_MODULE(crocoddyl_ros, m) {
            py::arg("topic") = "/crocoddyl/whole_body_trajectory",
            py::arg("frame") = "odom", py::arg("queue") = 10)
       .def(py::init<pinocchio::Model &, const std::vector<std::string> &,
-                    const Eigen::VectorXd &, const std::string &,
+                    const Eigen::Ref<const Eigen::VectorXd> &, const std::string &,
                     const std::string &, int>(),
            py::arg("model"), py::arg("locked_joints"), py::arg("qref"),
            py::arg("topic") = "/crocoddyl/whole_body_state",