From c1eb9ed491de661ed3dba01d9d1226b35d13308d Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 22 Mar 2012 13:26:16 +0100
Subject: [PATCH] In class Solver, implement method remove and modify method
push.
Both methods take a task as input and forward to Solver.sot.
---
src/dynamic_graph/sot/dynamics/solver.py | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/solver.py b/src/dynamic_graph/sot/dynamics/solver.py
index 1be5988..a29bdd5 100644
--- a/src/dynamic_graph/sot/dynamics/solver.py
+++ b/src/dynamic_graph/sot/dynamics/solver.py
@@ -46,8 +46,14 @@ class Solver:
plug(self.jointLimitator.control, robot.device.control)
plug(self.robot.device.state, self.robot.dynamic.position)
- def push(self, taskName):
+ def push (self, task):
"""
Proxy method to push a task in the sot
"""
- self.sot.push(taskName)
+ self.sot.push (task.name)
+
+ def remove (self, task):
+ """
+ Proxy method to remove a task from the sot
+ """
+ self.sot.remove (task.name)
--
GitLab