From 9ddee6f250cc3e3ba55de82416a0f43a6369a3cb Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Wed, 28 Jul 2021 12:14:25 +0200
Subject: [PATCH] Fix resetEstimator pybind11 bindings for LeggedOdometry

---
 bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp b/bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp
index 7ebb729d17..bf603a9d1f 100644
--- a/bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp
+++ b/bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp
@@ -58,11 +58,11 @@ void CreateLeggedOdometry(pybind11::module& module)
              py::arg("encoder_speeds"))
         .def("advance", &LeggedOdometry::advance)
         .def("reset_estimator",
-             py::overload_cast<const InternalState&>(&LeggedOdometry::resetEstimator),
+             py::overload_cast<const InternalState&>(&FloatingBaseEstimator::resetEstimator),
              py::arg("new_state"))
         .def("reset_estimator",
              py::overload_cast<const Eigen::Quaterniond&, const Eigen::Vector3d&>(
-                 &LeggedOdometry::resetEstimator),
+                 &FloatingBaseEstimator::resetEstimator),
              py::arg("new_imu_orientation"),
              py::arg("new_imu_position"))
         .def("reset_estimator", py::overload_cast<>(&LeggedOdometry::resetEstimator))