Enable Programmatic Creation of VariableRegularizationTask (#934)

ami-iit · Feb 13, 2025 · 128a628 · 128a628
1 parent 9348058
commit 128a628
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 0 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,6 +8,7 @@ All notable changes to this project are documented in this file.
 - Add `setFeetTransform` in the `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/927)
 - Add `getCurrentTime` to the `FixedFootDetector` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/928)
 - Add the possibility to easily disable/enable the rt logging in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/932)
+- Enable Programmatic Creation of `VariableRegularizationTask` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/934)
 
 ### Changed
 - Some improvements on the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)

diff --git a/src/TSID/include/BipedalLocomotion/TSID/VariableRegularizationTask.h b/src/TSID/include/BipedalLocomotion/TSID/VariableRegularizationTask.h
@@ -82,6 +82,8 @@ class VariableRegularizationTask : public TSIDLinearTask
     bool isValid() const override;
 };
 
+BLF_REGISTER_TSID_TASK(VariableRegularizationTask);
+
 } // namespace TSID
 } // namespace BipedalLocomotion