Merge pull request #47 from proyan/devel

[bindings][formulations] add binding for removeFromHqpData

bindings/python/formulations/formulation.hpp

@@ -63,6 +63,7 @@ namespace tsid
         .def("addRigidContact", &InvDynPythonVisitor::addRigidContactPointWithPriorityLevel, bp::args("contact", "force_reg_weight", "motion_weight", "priority_level"))
         .def("removeTask", &InvDynPythonVisitor::removeTask, bp::args("task_name", "duration"))
         .def("removeRigidContact", &InvDynPythonVisitor::removeRigidContact, bp::args("contact_name", "duration"))
+        .def("removeFromHqpData", &InvDynPythonVisitor::removeFromHqpData, bp::args("constraint_name"))
         .def("computeProblemData", &InvDynPythonVisitor::computeProblemData, bp::args("time", "q", "v"))
         
         .def("getActuatorForces", &InvDynPythonVisitor::getActuatorForces, bp::args("HQPOutput"))
@@ -108,7 +109,10 @@ namespace tsid
       }  
       static bool removeRigidContact(T& self, const std::string & contactName, double transition_duration){
         return self.removeRigidContact(contactName, transition_duration);
-      } 
+      }
+      static bool removeFromHqpData(T& self, const std::string & constraintName){
+        return self.removeFromHqpData(constraintName);
+      }
       static HQPDatas computeProblemData(T& self, double time, const Eigen::VectorXd & q, const Eigen::VectorXd & v){
         HQPDatas Hqp;
         Hqp.set(self.computeProblemData(time, q, v));