Made python binding of JointWaypoint accept JointState targets

TimSchneider42 · May 27, 2024 · cf0809c · cf0809c
1 parent c610d30
commit cf0809c
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/python/python.cpp b/python/python.cpp
@@ -747,14 +747,14 @@ PYBIND11_MODULE(_franky, m) {
            "return_when_finished"_a = true,
            "finish_wait_factor"_a = 1.2);
 
-  py::class_<Waypoint<Vector7d>>(m, "JointWaypoint")
+  py::class_<Waypoint<JointState>>(m, "JointWaypoint")
       .def(py::init<>(
                [](
-                   const Vector7d &target,
+                   const JointState &target,
                    ReferenceType reference_type,
                    RelativeDynamicsFactor relative_dynamics_factor,
                    std::optional<double> minimum_time) {
-                 return Waypoint<Vector7d>{
+                 return Waypoint<JointState>{
                      target, reference_type, relative_dynamics_factor, minimum_time};
                }
            ),