From 78b804213c7ad89b480aa1bde673a5b2106c6d4b Mon Sep 17 00:00:00 2001
From: thanhndv212 <thanhndv212@gmail.com>
Date: Fri, 7 Aug 2026 14:54:09 +0200
Subject: [PATCH 1/2] [core] Expose Progressive::timeOut() to Python
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

hpp-core's continuousValidation::Progressive gained a configurable
timeOut() getter/setter (humanoid-path-planner/hpp-core#450, replacing
a hardcoded 15s wall-clock bound in validateStraightPath()). Bind it
so it's reachable from Python, not just C++ — otherwise it isn't
actually usable by any of this project's downstream consumers, which
only interact with hpp-core through these bindings.

pv->obj is the generic PathValidationPtr_t stored by the PathValidation
wrapper; downcast to continuousValidation::ProgressivePtr_t to reach
the concrete method, same pattern as the existing PVWrapper helpers
for validate()/validateConfiguration().
---
 src/pyhpp/core/path-validation.cc | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/src/pyhpp/core/path-validation.cc b/src/pyhpp/core/path-validation.cc
index 6daf7dd..9b300b3 100644
--- a/src/pyhpp/core/path-validation.cc
+++ b/src/pyhpp/core/path-validation.cc
@@ -133,6 +133,20 @@ struct Progressive : PathValidation {
                        tolerance) {}
 };
 
+struct ProgressiveWrapper {
+  static hpp::core::value_type getTimeOut(PathValidation* pv) {
+    return HPP_DYNAMIC_PTR_CAST(hpp::core::continuousValidation::Progressive,
+                                pv->obj)
+        ->timeOut();
+  }
+  static void setTimeOut(PathValidation* pv,
+                         const hpp::core::value_type& timeOut) {
+    HPP_DYNAMIC_PTR_CAST(hpp::core::continuousValidation::Progressive,
+                         pv->obj)
+        ->timeOut(timeOut);
+  }
+};
+
 struct Dichotomy : PathValidation {
   Dichotomy(const hpp::core::DevicePtr_t& robot,
             const hpp::core::value_type& tolerance)
@@ -184,7 +198,11 @@ void exposePathValidation() {
   class_<pathValidation::Progressive, bases<PathValidation>>(
       "Progressive", "Create a progressive continuous path validation.",
       init<const hpp::core::DevicePtr_t&, const hpp::core::value_type&>(
-          (arg("robot"), arg("tolerance"))));
+          (arg("robot"), arg("tolerance"))))
+      .def("timeOut", &pathValidation::ProgressiveWrapper::getTimeOut,
+           "Get wall-clock timeout (seconds) for path validation.")
+      .def("timeOut", &pathValidation::ProgressiveWrapper::setTimeOut,
+           "Set wall-clock timeout (seconds) for path validation.");
   class_<pathValidation::Dichotomy, bases<PathValidation>>(
       "Dichotomy", "Create a dichotomy-based continuous path validation.",
       init<const hpp::core::DevicePtr_t&, const hpp::core::value_type&>(

From b7a046bd821964dec1df705a6642ddc40e3b16a8 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 7 Aug 2026 12:54:37 +0000
Subject: [PATCH 2/2] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 src/pyhpp/core/path-validation.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/pyhpp/core/path-validation.cc b/src/pyhpp/core/path-validation.cc
index 9b300b3..1dec071 100644
--- a/src/pyhpp/core/path-validation.cc
+++ b/src/pyhpp/core/path-validation.cc
@@ -141,8 +141,7 @@ struct ProgressiveWrapper {
   }
   static void setTimeOut(PathValidation* pv,
                          const hpp::core::value_type& timeOut) {
-    HPP_DYNAMIC_PTR_CAST(hpp::core::continuousValidation::Progressive,
-                         pv->obj)
+    HPP_DYNAMIC_PTR_CAST(hpp::core::continuousValidation::Progressive, pv->obj)
         ->timeOut(timeOut);
   }
 };