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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <sot/core/pool.hh> |
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#include <sot/core/task-abstract.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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TaskAbstract::TaskAbstract(const std::string &n) |
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: Entity(n), |
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memoryInternal(NULL), |
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✓✗ |
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taskSOUT("sotTaskAbstract(" + n + ")::output(vector)::task"), |
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✓✗✓✗
✓✗✓✗
✓✗ |
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jacobianSOUT("sotTaskAbstract(" + n + ")::output(matrix)::jacobian") { |
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✓✗ |
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taskRegistration(); |
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✓✗✓✗
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signalRegistration(taskSOUT << jacobianSOUT); |
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} |
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void TaskAbstract::taskRegistration(void) { |
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PoolStorage::getInstance()->registerTask(name, this); |
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} |