Merge pull request #82 from Simple-Robotics/fix_matrix43_binding

EtienneAr · web-flow · commit c85e8af1f976 · 2025-12-04T14:26:21.000+01:00
Fix matrix&lt;double,4,3&gt; binding
diff --git a/bindings/expose-robot-handler.cpp b/bindings/expose-robot-handler.cpp
@@ -20,6 +20,8 @@ namespace simple_mpc
 
     void exposeHandler()
     {
+      ENABLE_SPECIFIC_MATRIX_TYPE(RobotModelHandler::ContactPointsMatrix);
+
       bp::class_<RobotModelHandler>(
         "RobotModelHandler", bp::init<const pinocchio::Model &, const std::string &, const std::string &>(
                                bp::args("self", "model", "reference_configuration_name", "base_frame_name")))

Original file line number	Diff line number	Diff line change
`@@ -20,6 +20,8 @@ namespace simple_mpc`
`20`	`20`
`21`	`21`	`void exposeHandler()`
`22`	`22`	`{`
	`23`	`+ ENABLE_SPECIFIC_MATRIX_TYPE(RobotModelHandler::ContactPointsMatrix);`
	`24`	`+`
`23`	`25`	`bp::class_<RobotModelHandler>(`
`24`	`26`	`"RobotModelHandler", bp::init<const pinocchio::Model &, const std::string &, const std::string &>(`
`25`	`27`	`bp::args("self", "model", "reference_configuration_name", "base_frame_name")))`