Accounting for the modifs in sot-core/feature.

python/meta_task_dyn_6d.py

@@ -11,7 +11,7 @@ class MetaTaskDyn6d(MetaTask6d):
         self.gain = GainAdaptive('gain'+self.name)
         self.gain.set(1050,45,125e3)
     def plugEverything(self):
-        self.feature.sdes.value = self.featureDes.name
+        self.feature.setReference(self.featureDes.name)
         plug(self.dyn.signal(self.opPoint),self.feature.signal('position'))
         plug(self.dyn.signal('J'+self.opPoint),self.feature.signal('Jq'))
         self.task.add(self.feature.name)

python/meta_tasks_dyn.py

@@ -73,8 +73,7 @@ class MetaTaskDynPosture(object):
         plug(dyn.position,self.feature.errorIN)
         robotDim = len(dyn.position.value)
         self.feature.jacobianIN.value = matrixToTuple( identity(robotDim) )
-#        self.feature.setReference(self.featureDes.name)
-        self.feature.sdes.value = self.featureDes.name
+        self.feature.setReference(self.featureDes.name)
 
         self.task.add(self.feature.name)
         plug(dyn.velocity,self.task.qdot)
@@ -120,8 +119,7 @@ class MetaTaskDynCom(object):
 
         plug(dyn.com,self.feature.errorIN)
         plug(dyn.Jcom,self.feature.jacobianIN)
-#        self.feature.setReference(self.featureDes.name)
-        self.feature.sdes.value = self.featureDes.name
+        self.feature.setReference(self.featureDes.name)
 
         self.task.add(self.feature.name)
         plug(dyn.velocity,self.task.qdot)

src/feature-projected-line.cpp

@@ -53,7 +53,6 @@ namespace dynamicgraph
       /* --- CLASS ----------------------------------------------------------- */
       /* --------------------------------------------------------------------- */
 
-
       FeatureProjectedLine::
       FeatureProjectedLine( const std::string& pointName )
 	: FeatureAbstract( pointName )
@@ -74,12 +73,9 @@ namespace dynamicgraph
 	errorSOUT.addDependency( xbSIN );
 	errorSOUT.addDependency( xcSIN );
 
-	activationSOUT.removeDependency( desiredValueSIN );
-
 	signalRegistration( xaSIN << xbSIN << xcSIN << JaSIN << JbSIN );
       }
 
-
       /* --------------------------------------------------------------------- */
       /* --------------------------------------------------------------------- */
       /* --------------------------------------------------------------------- */
@@ -117,17 +113,6 @@ namespace dynamicgraph
 	      & dya=JA(1,i),& dyb=JB(1,i);
 	    J(0,i) = dxa*(yb-yc) - dxb*(ya-yc) - dya*(xb-xc) + dyb*(xa-xc);
 	  }
-	// J.resize(3,nq);
-	// for( int i=0;i<nq;++i )
-	//   {
-	//     const double
-	//       & dxa=JA(0,i),& dxb=JB(0,i),
-	//       & dya=JA(1,i),& dyb=JB(1,i),
-	//       & dza=JA(2,i),& dzb=JB(2,i);
-	//     J(0,i) = dxa;
-	//     J(1,i) = dya;
-	//     J(2,i) = dza;
-	//   }
 
 	sotDEBUGOUT(15);
 	return J;
@@ -150,12 +135,6 @@ namespace dynamicgraph
 	error.resize(1);
 	error(0) = (xb-xa)*(yc-ya)-(yb-ya)*(xc-xa);
 
-	// error.resize(3);
-	// error(0) = xa-xc;
-	// error(1) = ya-yc;
-	// error(2) = A(2,3) - C(2);
-	//std::cout << time << " " << ya << " " << yc << std::endl;
-
 	sotDEBUGOUT(15);
 	return error ;
       }

src/feature-projected-line.h

@@ -72,15 +72,15 @@ namespace dynamicgraph {
 	DECLARE_SIGNAL_IN(Jb,ml::Matrix);
 	DECLARE_SIGNAL_IN(xc,ml::Vector);
 
+	DECLARE_NO_REFERENCE;
+
       public:
 	FeatureProjectedLine( const std::string& name );
 	virtual ~FeatureProjectedLine( void ) {}
 
 	virtual unsigned int& getDimension( unsigned int & dim, int time );
-
 	virtual ml::Vector& computeError( ml::Vector& res,int time );
 	virtual ml::Matrix& computeJacobian( ml::Matrix& res,int time );
-	virtual ml::Vector& computeActivation( ml::Vector& res,int) {return res;}
 
 	virtual void display( std::ostream& os ) const;