From 81ace74b0e1d703150f05dfd83ff67e1a6831073 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Thu, 27 Jun 2024 05:03:19 -0700
Subject: [PATCH] [py] Remove binding of deprecated BoxedLcpConstraintSolver
 constructor

(cherry picked from commit ad9a8a1c61223b0d276c0242b0acf148721ff89b)
---
 dart/constraint/BoxedLcpConstraintSolver.hpp  |  2 +-
 .../constraint/BoxedLcpConstraintSolver.cpp   | 25 +++++++++++--------
 2 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/dart/constraint/BoxedLcpConstraintSolver.hpp b/dart/constraint/BoxedLcpConstraintSolver.hpp
index 3220c1876aaad..7d9ff613c9134 100644
--- a/dart/constraint/BoxedLcpConstraintSolver.hpp
+++ b/dart/constraint/BoxedLcpConstraintSolver.hpp
@@ -61,7 +61,7 @@ class BoxedLcpConstraintSolver : public ConstraintSolver
       BoxedLcpSolverPtr boxedLcpSolver = nullptr,
       BoxedLcpSolverPtr secondaryBoxedLcpSolver = nullptr);
 
-  /// Constructos with default primary and secondary LCP solvers, which are
+  /// Constructs with default primary and secondary LCP solvers, which are
   /// Dantzig and PGS, respectively.
   BoxedLcpConstraintSolver();
 
diff --git a/python/dartpy/constraint/BoxedLcpConstraintSolver.cpp b/python/dartpy/constraint/BoxedLcpConstraintSolver.cpp
index b470ab9e2732b..97b088ed85997 100644
--- a/python/dartpy/constraint/BoxedLcpConstraintSolver.cpp
+++ b/python/dartpy/constraint/BoxedLcpConstraintSolver.cpp
@@ -42,26 +42,31 @@ namespace python {
 void BoxedLcpConstraintSolver(py::module& m)
 {
   ::py::class_<
-      dart::constraint::BoxedLcpConstraintSolver,
-      dart::constraint::ConstraintSolver,
-      std::shared_ptr<dart::constraint::BoxedLcpConstraintSolver>>(
+      constraint::BoxedLcpConstraintSolver,
+      constraint::ConstraintSolver,
+      std::shared_ptr<constraint::BoxedLcpConstraintSolver>>(
       m, "BoxedLcpConstraintSolver")
-      .def(::py::init<double>(), ::py::arg("timeStep"))
+      .def(::py::init<>())
       .def(
-          ::py::init<double, dart::constraint::BoxedLcpSolverPtr>(),
-          ::py::arg("timeStep"),
+          ::py::init<constraint::BoxedLcpSolverPtr>(),
           ::py::arg("boxedLcpSolver"))
+      .def(
+          ::py::init<
+              constraint::BoxedLcpSolverPtr,
+              constraint::BoxedLcpSolverPtr>(),
+          ::py::arg("boxedLcpSolver"),
+          ::py::arg("secondaryBoxedLcpSolver"))
       .def(
           "setBoxedLcpSolver",
-          +[](dart::constraint::BoxedLcpConstraintSolver* self,
-              dart::constraint::BoxedLcpSolverPtr lcpSolver) {
+          +[](constraint::BoxedLcpConstraintSolver* self,
+              constraint::BoxedLcpSolverPtr lcpSolver) {
             self->setBoxedLcpSolver(lcpSolver);
           },
           ::py::arg("lcpSolver"))
       .def(
           "getBoxedLcpSolver",
-          +[](const dart::constraint::BoxedLcpConstraintSolver* self)
-              -> dart::constraint::ConstBoxedLcpSolverPtr {
+          +[](const constraint::BoxedLcpConstraintSolver* self)
+              -> constraint::ConstBoxedLcpSolverPtr {
             return self->getBoxedLcpSolver();
           });
 }