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Commit a9221f56 authored by Francois Bleibel's avatar Francois Bleibel
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sotFeatureTask depends on sotTask, not sotAbstractTask

    ml::vector errorSIN cannot be plugged on
     taskSOUT (which is a sotVectorMultiBound),
    but can be plugged on
     errorSOUT (which is a ml::vector)
parent 4a849705
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......@@ -26,6 +26,7 @@
#include <sot-core/debug.h>
#include <sot-core/feature-task.h>
#include <sot-core/exception-feature.h>
#include <sot-core/task.h>
#include <dynamic-graph/pool.h>
using namespace std;
using namespace sot;
......@@ -126,10 +127,10 @@ 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 {
......
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