Added trampoline class for GenricTask and GenericConstraint

Author: EnricoMingo

bindings/python/generic.hpp

@@ -8,24 +8,47 @@ namespace py = pybind11;
 using namespace OpenSoT::constraints;
 using namespace OpenSoT::tasks;
 
+struct PyGenericTaskTrampoline : public GenericTask {
+    using GenericTask::GenericTask;  // Inherit constructors
+
+    void _update() override {
+        PYBIND11_OVERRIDE(
+            void,          // Return type
+            GenericTask,   // C++ parent class
+            _update        // Name of the function
+            );
+    }
+};
+
+struct PyGenericConstraintTrampoline : public GenericConstraint {
+    using GenericConstraint::GenericConstraint;  // Inherit constructors
+
+    void _update() override {
+        PYBIND11_OVERRIDE(
+            void,          // Return type
+            GenericConstraint,   // C++ parent class
+            _update        // Name of the function
+            );
+    }
+};
+
 // Define bindings
 void pyGenericConstraint(py::module& m) {
     py::enum_<GenericConstraint::Type>(m, "ConstraintType")
         .value("BOUND", GenericConstraint::Type::BOUND)
         .value("CONSTRAINT", GenericConstraint::Type::CONSTRAINT)
         .export_values();
 
-    py::class_<GenericConstraint, std::shared_ptr<GenericConstraint>, Constraint<Eigen::MatrixXd, Eigen::VectorXd>>(m, "GenericConstraint")
+    py::class_<GenericConstraint, std::shared_ptr<GenericConstraint>, Constraint<Eigen::MatrixXd, Eigen::VectorXd>, PyGenericConstraintTrampoline>(m, "GenericConstraint")
         .def(py::init<std::string, const Eigen::VectorXd&, const Eigen::VectorXd&, int>())
         .def(py::init<std::string, const AffineHelper&, const Eigen::VectorXd&, const Eigen::VectorXd&, GenericConstraint::Type>())
         .def("setConstraint", &GenericConstraint::setConstraint)
         .def("setBounds", &GenericConstraint::setBounds)
-        .def("update", &GenericConstraint::update)
         .def("getType", &GenericConstraint::getType);
 }
 
 void pyGenericTask(py::module& m) {
-    py::class_<GenericTask, std::shared_ptr<GenericTask>, Task<Eigen::MatrixXd, Eigen::VectorXd>>(m, "GenericTask")
+    py::class_<GenericTask, std::shared_ptr<GenericTask>, Task<Eigen::MatrixXd, Eigen::VectorXd>, PyGenericTaskTrampoline>(m, "GenericTask")
         .def(py::init<const std::string&, const Eigen::MatrixXd&, const Eigen::VectorXd&>())
         .def(py::init<const std::string&, const Eigen::MatrixXd&, const Eigen::VectorXd&, const AffineHelper&>())
         .def("setA", &GenericTask::setA)