From 128a62803f25995a21f501bf9931b4b630c8e9fb Mon Sep 17 00:00:00 2001
From: Lorenzo Moretti <107630048+LoreMoretti@users.noreply.github.com>
Date: Thu, 13 Feb 2025 17:41:51 +0100
Subject: [PATCH] Enable Programmatic Creation of  VariableRegularizationTask  
 (#934)

---
 CHANGELOG.md                                                    | 1 +
 .../include/BipedalLocomotion/TSID/VariableRegularizationTask.h | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index c71fb3bea6..2ed7f34cd6 100644
--- 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
index 56d2d768c2..30048e0e47 100644
--- 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