stack-template.t.cpp

/*
 * Copyright 2011, Nicolas Mansard, LAAS-CNRS
 *
 * This file is part of sot-dyninv.
 * sot-dyninv is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 * sot-dyninv is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.  You should
 * have received a copy of the GNU Lesser General Public License along
 * with sot-dyninv.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef __sot_dyninv_StackTemplate_TCC__
#define __sot_dyninv_StackTemplate_TCC__

#include <dynamic-graph/pool.h>
#include <sot/core/debug.hh>
#include <sot/core/task-abstract.hh>

namespace dynamicgraph
{
  namespace sot
  {

    /* --------------------------------------------------------------------- */
    /* --- CLASS ----------------------------------------------------------- */
    /* --------------------------------------------------------------------- */

    template< typename TaskGeneric >
    const unsigned int Stack<TaskGeneric>::NB_JOINTS_DEFAULT = 46;

    /* --------------------------------------------------------------------- */
    /* --- CONSTRUCTION ---------------------------------------------------- */
    /* --------------------------------------------------------------------- */

    template< typename TaskGeneric >
    Stack<TaskGeneric>::
    Stack( void )
      :stack()
      ,nbDofs( NB_JOINTS_DEFAULT )
    {
    }

    /* --------------------------------------------------------------------- */
    /* --- STACK MANIPULATION --- */
    /* --------------------------------------------------------------------- */

    template< typename TaskGeneric >
    void Stack<TaskGeneric>::
    push( TaskGeneric& task )
    {
      stack.push_back( &task );
      addDependancy( getTaskDependancyList( task ) );
      resetReady();
    }
    template< typename TaskGeneric >
    TaskGeneric& Stack<TaskGeneric>::
    pop( void )
    {
      TaskGeneric* res = stack.back();
      removeDependancy( getTaskDependancyList( *res ) );
      stack.pop_back();
      resetReady();
      return *res;
    }
    template< typename TaskGeneric >