added init for each possible child class of contact base in the bindings

danielcostanzi18 · Jan 7, 2025 · eb03d05 · eb03d05
1 parent c27be4b
commit eb03d05
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diff --git a/include/tsid/bindings/python/tasks/task-contact-force-equality.hpp b/include/tsid/bindings/python/tasks/task-contact-force-equality.hpp
@@ -41,6 +41,21 @@ struct TaskContactForceEqualityPythonVisitor
                    contacts::ContactBase &>((bp::arg("name"), bp::arg("robot"),
                                              bp::arg("dt"), bp::arg("contact")),
                                             "Default Constructor"))
+        .def(
+          bp::init<std::string, robots::RobotWrapper &, double,
+                   contacts::Contact6d &>((bp::arg("name"), bp::arg("robot"),
+                                             bp::arg("dt"), bp::arg("contact")),
+                                            "Constructor with Contact6d"))
+        .def(
+          bp::init<std::string, robots::RobotWrapper &, double,
+                   contacts::ContactPoint &>((bp::arg("name"), bp::arg("robot"),
+                                               bp::arg("dt"), bp::arg("contact")),
+                                              "Constructor with ContactPoint"))
+        .def(
+          bp::init<std::string, robots::RobotWrapper &, double,
+                   contacts::ContactTwoFramePositions &>((bp::arg("name"), bp::arg("robot"),
+                                               bp::arg("dt"), bp::arg("contact")),
+                                              "Constructor with ContactTwoFramePositions"))
         .add_property("dim", &TaskContactForceEquality::dim,
                       "return dimension size")
         .def("setReference",

diff --git a/include/tsid/tasks/task-contact-force-equality.hpp b/include/tsid/tasks/task-contact-force-equality.hpp
@@ -23,6 +23,9 @@
 #include "tsid/trajectories/trajectory-base.hpp"
 #include "tsid/math/constraint-equality.hpp"
 #include "tsid/contacts/contact-base.hpp"
+#include "tsid/contacts/contact-6d.hpp"
+#include "tsid/contacts/contact-point.hpp"
+#include "tsid/contacts/contact-two-frame-positions.hpp"
 
 namespace tsid {
 namespace tasks {