[python] Prevent users inproper setting of residual references

loco-3d · Jan 15, 2025 · de6e095 · de6e095
1 parent 226b200
commit de6e095
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Showing 4 changed files with 12 additions and 12 deletions.
diff --git a/bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp b/bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp
@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2020-2023, University of Duisburg-Essen, University of
+// Copyright (C) 2020-2025, University of Duisburg-Essen, University of
 // Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
@@ -85,7 +85,7 @@ void exposeResidualContactCoPPosition() {
       .add_property(
           "reference",
           bp::make_function(&ResidualModelContactCoPPosition::get_reference,
-                            bp::return_internal_reference<>()),
+                            bp::return_value_policy<copy_const_reference>()),
           &ResidualModelContactCoPPosition::set_reference,
           "reference support region of the CoP")
       .def(CopyableVisitor<ResidualModelContactCoPPosition>());

diff --git a/bindings/python/crocoddyl/multibody/residuals/contact-force.cpp b/bindings/python/crocoddyl/multibody/residuals/contact-force.cpp
@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -95,11 +95,11 @@ void exposeResidualContactForce() {
               deprecated<>(
                   "Deprecated. Do not use set_id, instead create a new model")),
           "reference frame id")
-      .add_property("reference",
-                    bp::make_function(&ResidualModelContactForce::get_reference,
-                                      bp::return_internal_reference<>()),
-                    &ResidualModelContactForce::set_reference,
-                    "reference spatial force")
+      .add_property(
+          "reference",
+          bp::make_function(&ResidualModelContactForce::get_reference,
+                            bp::return_value_policy<copy_const_reference>()),
+          &ResidualModelContactForce::set_reference, "reference spatial force")
       .def(CopyableVisitor<ResidualModelContactForce>());
 
   bp::register_ptr_to_python<boost::shared_ptr<ResidualDataContactForce> >();

diff --git a/bindings/python/crocoddyl/multibody/residuals/frame-placement.cpp b/bindings/python/crocoddyl/multibody/residuals/frame-placement.cpp
@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University
+// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
@@ -83,7 +83,7 @@ void exposeResidualFramePlacement() {
       .add_property(
           "reference",
           bp::make_function(&ResidualModelFramePlacement::get_reference,
-                            bp::return_internal_reference<>()),
+                            bp::return_value_policy<copy_const_reference>()),
           &ResidualModelFramePlacement::set_reference,
           "reference frame placement")
       .def(CopyableVisitor<ResidualModelFramePlacement>());

diff --git a/bindings/python/crocoddyl/multibody/residuals/frame-rotation.cpp b/bindings/python/crocoddyl/multibody/residuals/frame-rotation.cpp
@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University
+// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
@@ -83,7 +83,7 @@ void exposeResidualFrameRotation() {
       .add_property(
           "reference",
           bp::make_function(&ResidualModelFrameRotation::get_reference,
-                            bp::return_internal_reference<>()),
+                            bp::return_value_policy<copy_const_reference>()),
           &ResidualModelFrameRotation::set_reference,
           "reference frame rotation")
       .def(CopyableVisitor<ResidualModelFrameRotation>());