Directory: | ./ |
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File: | src/task/task-abstract.cpp |
Date: | 2024-08-13 12:13:25 |
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1 | /* | ||
2 | * Copyright 2010, | ||
3 | * François Bleibel, | ||
4 | * Olivier Stasse, | ||
5 | * | ||
6 | * CNRS/AIST | ||
7 | * | ||
8 | */ | ||
9 | |||
10 | /* --------------------------------------------------------------------- */ | ||
11 | /* --- INCLUDE --------------------------------------------------------- */ | ||
12 | /* --------------------------------------------------------------------- */ | ||
13 | |||
14 | /* SOT */ | ||
15 | #include <sot/core/pool.hh> | ||
16 | #include <sot/core/task-abstract.hh> | ||
17 | |||
18 | using namespace dynamicgraph::sot; | ||
19 | using namespace dynamicgraph; | ||
20 | |||
21 | /* --------------------------------------------------------------------- */ | ||
22 | /* --- CLASS ----------------------------------------------------------- */ | ||
23 | /* --------------------------------------------------------------------- */ | ||
24 | |||
25 | 8 | TaskAbstract::TaskAbstract(const std::string &n) | |
26 | : Entity(n), | ||
27 | 8 | memoryInternal(NULL), | |
28 |
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8 | taskSOUT("sotTaskAbstract(" + n + ")::output(vector)::task"), |
29 |
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16 | jacobianSOUT("sotTaskAbstract(" + n + ")::output(matrix)::jacobian") { |
30 |
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8 | taskRegistration(); |
31 |
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8 | signalRegistration(taskSOUT << jacobianSOUT); |
32 | 8 | } | |
33 | |||
34 | 8 | void TaskAbstract::taskRegistration(void) { | |
35 | 8 | PoolStorage::getInstance()->registerTask(name, this); | |
36 | 8 | } | |
37 |