diff --git a/src/feature/feature-task.cpp b/src/feature/feature-task.cpp index 59124f14eff8f5f9cdc5ea93dca86221b28a67ca..ff64059c130a5b8f3b04b6e927bd9f809dc28b0b 100644 --- a/src/feature/feature-task.cpp +++ b/src/feature/feature-task.cpp @@ -27,6 +27,8 @@ #include <sot-core/feature-task.h> #include <sot-core/exception-feature.h> #include <dynamic-graph/pool.h> +#include <sot-core/task.h> + using namespace std; using namespace sot; using namespace dynamicgraph; @@ -126,10 +128,10 @@ commandLine( const std::string& cmdLine, if( cmdArgs.good() ) { std::string name; cmdArgs >> name; - TaskAbstract& task = dynamic_cast< TaskAbstract & > (g_pool .getEntity( name )); + Task& task = dynamic_cast< Task & > (g_pool .getEntity( name )); taskPtr = &task; - errorSIN.plug( &task.taskSOUT ); + errorSIN.plug( &task.errorSOUT ); jacobianSIN.plug( &task.jacobianSOUT ); activationSIN.plug( &task.featureActivationSOUT ); } else {