[python] Included setter for nu + updated changelog

CHANGELOG.md

@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+* Added nu, ng, and nh setters for Python bindings in https://github.com/loco-3d/crocoddyl/pull/1192
+
 ## [2.0.2] - 2023-11-30
 
 * Added CHANGELOG.md in https://github.com/loco-3d/crocoddyl/pull/1188

bindings/python/crocoddyl/core/action-base.cpp

@@ -117,6 +117,8 @@ void exposeActionAbstract() {
            &ActionModelAbstract_wrap::default_quasiStatic,
            bp::args("self", "data", "u", "x", "maxiter", "tol"))
       .add_property("nu", bp::make_function(&ActionModelAbstract_wrap::get_nu),
+                    bp::make_setter(&ActionModelAbstract_wrap::nu_,
+                                    bp::return_internal_reference<>()),
                     "dimension of control vector")
       .add_property("nr", bp::make_function(&ActionModelAbstract_wrap::get_nr),
                     "dimension of cost-residual vector")

bindings/python/crocoddyl/core/action-base.hpp

@@ -1,7 +1,8 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh
+// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+//                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
@@ -22,6 +23,7 @@ class ActionModelAbstract_wrap : public ActionModelAbstract,
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   using ActionModelAbstract::ng_;
   using ActionModelAbstract::nh_;
+  using ActionModelAbstract::nu_;
 
   ActionModelAbstract_wrap(boost::shared_ptr<StateAbstract> state,
                            const std::size_t nu, const std::size_t nr = 1,