Added a command to apprehend eventual changes in the Jacobian while estimating its derivative.

src/task-dyn-pd.cpp

@@ -68,6 +68,10 @@ namespace dynamicgraph
 	signalRegistration( KvSIN << qdotSIN << dtSIN
 			    << errorDotSOUT << KvAutoSOUT
 			    << JdotSOUT  << taskVectorSOUT );
+
+	addCommand("resetJacobianDerivative",
+		   makeCommandVoid0(*this,&TaskDynPD::resetJacobianDerivative,
+				    docCommandVoid0("Reset the memory of the numeric jacobian derivative.")));
       }
 
 
@@ -149,6 +153,9 @@ namespace dynamicgraph
 	return Jdot;
       }
 
+      void TaskDynPD::resetJacobianDerivative( void ) { previousJset = false; }
+
+
       ml::Vector& TaskDynPD::
       taskVectorSOUT_function( ml::Vector& taskV,             int time )
       {

src/task-dyn-pd.h

@@ -83,6 +83,9 @@ namespace dynamicgraph {
 	  ml::Matrix previousJ;
 	  bool previousJset;
 
+	public: /* COMMANDS */
+	  void resetJacobianDerivative( void );
+
 	}; // class TaskDynPD
 
     } // namespace dyninv