From 4cbaae10f5295bc88ab85e3933f316a261a66e47 Mon Sep 17 00:00:00 2001 From: Carlos Mastalli Date: Wed, 13 Dec 2023 12:02:32 +0000 Subject: [PATCH] [python] Using Eigen::Ref for bindings --- src/crocoddyl_ros.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/crocoddyl_ros.cpp b/src/crocoddyl_ros.cpp index 9f2190d..07cceda 100644 --- 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 &, - const Eigen::VectorXd &, const std::string &, + const Eigen::Ref &, 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 &, - const Eigen::VectorXd &, const std::string &, + const Eigen::Ref &, const std::string &, const std::string &, int>(), py::arg("model"), py::arg("locked_joints"), py::arg("qref"), py::arg("topic") = "/crocoddyl/whole_body_state",