From 19abc769fdb4f34878f07b9e16f094ed14904658 Mon Sep 17 00:00:00 2001
From: stasse <olivier.stasse@aist.go.jp>
Date: Mon, 28 Jun 2010 23:49:39 +0900
Subject: [PATCH] Fix dependancy to dependency
---
include/sot-core/integrator-euler.h | 2 +-
include/sot-core/matrix-constant.h | 2 +-
include/sot-core/sot-qr.h | 2 +-
include/sot-core/sot.h | 2 +-
include/sot-core/vector-constant.h | 2 +-
src/feature/feature-1d.cpp | 6 ++---
src/feature/feature-generic.cpp | 8 +++---
src/feature/feature-joint-limits.cpp | 20 +++++++--------
src/feature/feature-line-distance.cpp | 8 +++---
src/feature/feature-point6d-relative.cpp | 10 ++++----
src/feature/feature-point6d.cpp | 8 +++---
src/feature/feature-vector3.cpp | 12 ++++-----
src/feature/feature-visual-point.cpp | 12 ++++-----
src/sot/sot-qr.cpp | 30 +++++++++++-----------
src/sot/sot.cpp | 30 +++++++++++-----------
src/sot/weighted-sot.cpp | 2 +-
src/task/constraint.cpp | 4 +--
src/task/task-pd.cpp | 2 +-
src/task/task-unilateral.cpp | 10 ++++----
src/task/task.cpp | 18 ++++++-------
unitTesting/signal/test_dep.cpp | 32 ++++++++++++------------
unitTesting/signal/test_depend.cpp | 12 ++++-----
unitTesting/sot/tsot.cpp | 2 +-
23 files changed, 118 insertions(+), 118 deletions(-)
diff --git a/include/sot-core/integrator-euler.h b/include/sot-core/integrator-euler.h
index 2baafc2a..494a09f7 100644
--- a/include/sot-core/integrator-euler.h
+++ b/include/sot-core/integrator-euler.h
@@ -65,7 +65,7 @@ class IntegratorEuler
IntegratorEuler( const std::string& name )
: IntegratorAbstract<sigT,coefT>( name )
{
- SOUT.addDependancy(SIN);
+ SOUT.addDependency(SIN);
}
virtual ~IntegratorEuler( void ) {}
diff --git a/include/sot-core/matrix-constant.h b/include/sot-core/matrix-constant.h
index ffbccd0f..60fb29b4 100644
--- a/include/sot-core/matrix-constant.h
+++ b/include/sot-core/matrix-constant.h
@@ -49,7 +49,7 @@ public:
,rows(0),cols(0),color(0.)
,SOUT( "sotMatrixConstant("+name+")::output(matrix)::out" )
{
- SOUT.setDependancyType( dg::TimeDependency<int>::BOOL_DEPENDANT );
+ SOUT.setDependencyType( dg::TimeDependency<int>::BOOL_DEPENDENT );
signalRegistration( SOUT );
}
diff --git a/include/sot-core/sot-qr.h b/include/sot-core/sot-qr.h
index 02532c65..7cdba61c 100644
--- a/include/sot-core/sot-qr.h
+++ b/include/sot-core/sot-qr.h
@@ -153,7 +153,7 @@ class SOTSOTQR_EXPORT SotQr
void remove( const TaskAbstract& task );
/*! \brief This method removes the output signals depending on this task. */
- void removeDependancy( const TaskAbstract& key );
+ void removeDependency( const TaskAbstract& key );
/*! \brief This method makes the task to swap with the task having the
immediate superior priority. */
diff --git a/include/sot-core/sot.h b/include/sot-core/sot.h
index 8a34e7f8..72db9ccb 100644
--- a/include/sot-core/sot.h
+++ b/include/sot-core/sot.h
@@ -167,7 +167,7 @@ class SOTSOT_CORE_EXPORT Sot
virtual void remove( const TaskAbstract& task );
/*! \brief This method removes the output signals depending on this task. */
- virtual void removeDependancy( const TaskAbstract& key );
+ virtual void removeDependency( const TaskAbstract& key );
/*! \brief This method makes the task to swap with the task having the
immediate superior priority. */
diff --git a/include/sot-core/vector-constant.h b/include/sot-core/vector-constant.h
index cb37c38b..b8295f0b 100644
--- a/include/sot-core/vector-constant.h
+++ b/include/sot-core/vector-constant.h
@@ -46,7 +46,7 @@ public:
,rows(0),color(0.)
,SOUT( "sotVectorConstant("+name+")::output(vector)::out" )
{
- SOUT.setDependancyType( dg::TimeDependency<int>::BOOL_DEPENDANT );
+ SOUT.setDependencyType( dg::TimeDependency<int>::BOOL_DEPENDENT );
signalRegistration( SOUT );
}
diff --git a/src/feature/feature-1d.cpp b/src/feature/feature-1d.cpp
index 5ba2ac93..6ab4d496 100644
--- a/src/feature/feature-1d.cpp
+++ b/src/feature/feature-1d.cpp
@@ -48,9 +48,9 @@ Feature1D( const string& pointName )
,jacobianSIN( NULL,"sotFeature1D("+name+")::input(matrix)::jacobianIN" )
,activationSIN( NULL,"sotFeature1D("+name+")::input(matrix)::activationIN" )
{
- jacobianSOUT.addDependancy( jacobianSIN );
- errorSOUT.addDependancy( errorSIN );
- activationSOUT.addDependancy( activationSIN );
+ jacobianSOUT.addDependency( jacobianSIN );
+ errorSOUT.addDependency( errorSIN );
+ activationSOUT.addDependency( activationSIN );
signalRegistration( errorSIN<<jacobianSIN<<activationSIN );
}
diff --git a/src/feature/feature-generic.cpp b/src/feature/feature-generic.cpp
index b82d59ed..3ae44fd0 100644
--- a/src/feature/feature-generic.cpp
+++ b/src/feature/feature-generic.cpp
@@ -52,10 +52,10 @@ FeatureGeneric( const string& pointName )
"sotFeatureAbstract("+name+")::output(vector)::errordot" )
{
- jacobianSOUT.addDependancy( jacobianSIN );
- errorSOUT.addDependancy( errorSIN );
- // errordotSOUT.addDependancy(errordotSIN);
- activationSOUT.addDependancy( activationSIN );
+ jacobianSOUT.addDependency( jacobianSIN );
+ errorSOUT.addDependency( errorSIN );
+ // errordotSOUT.addDependency(errordotSIN);
+ activationSOUT.addDependency( activationSIN );
signalRegistration( errorSIN<<jacobianSIN<<activationSIN << errordotSIN << errordotSOUT);
}
diff --git a/src/feature/feature-joint-limits.cpp b/src/feature/feature-joint-limits.cpp
index 03470652..8771f786 100644
--- a/src/feature/feature-joint-limits.cpp
+++ b/src/feature/feature-joint-limits.cpp
@@ -54,19 +54,19 @@ FeatureJointLimits( const string& fName )
upperJlSIN<<lowerJlSIN,
"sotFeatureJointLimits("+name+")::input(vector)::widthJl" )
{
- errorSOUT.addDependancy( jointSIN );
- errorSOUT.addDependancy( upperJlSIN );
- errorSOUT.addDependancy( lowerJlSIN );
+ errorSOUT.addDependency( jointSIN );
+ errorSOUT.addDependency( upperJlSIN );
+ errorSOUT.addDependency( lowerJlSIN );
- activationSOUT.addDependancy( jointSIN );
- activationSOUT.addDependancy( upperJlSIN );
- activationSOUT.addDependancy( lowerJlSIN );
+ activationSOUT.addDependency( jointSIN );
+ activationSOUT.addDependency( upperJlSIN );
+ activationSOUT.addDependency( lowerJlSIN );
- //jacobianSOUT.addDependancy( jointSIN );
+ //jacobianSOUT.addDependency( jointSIN );
- errorSOUT.removeDependancy( desiredValueSIN );
- jacobianSOUT.removeDependancy( desiredValueSIN );
- activationSOUT.removeDependancy( desiredValueSIN );
+ errorSOUT.removeDependency( desiredValueSIN );
+ jacobianSOUT.removeDependency( desiredValueSIN );
+ activationSOUT.removeDependency( desiredValueSIN );
signalRegistration( jointSIN<<upperJlSIN<<lowerJlSIN<<widthJlSINTERN );
}
diff --git a/src/feature/feature-line-distance.cpp b/src/feature/feature-line-distance.cpp
index 785695d3..1cecfa67 100644
--- a/src/feature/feature-line-distance.cpp
+++ b/src/feature/feature-line-distance.cpp
@@ -54,12 +54,12 @@ FeatureLineDistance( const string& pointName )
positionSIN<<positionRefSIN,
"sotFeatureAbstract("+name+")::output(vector)::line" )
{
- jacobianSOUT.addDependancy( positionSIN );
- jacobianSOUT.addDependancy( articularJacobianSIN );
+ jacobianSOUT.addDependency( positionSIN );
+ jacobianSOUT.addDependency( articularJacobianSIN );
- errorSOUT.addDependancy( positionSIN );
+ errorSOUT.addDependency( positionSIN );
- activationSOUT.removeDependancy( desiredValueSIN );
+ activationSOUT.removeDependency( desiredValueSIN );
signalRegistration( positionSIN<<articularJacobianSIN
<<positionRefSIN<<lineSOUT<<vectorSIN );
diff --git a/src/feature/feature-point6d-relative.cpp b/src/feature/feature-point6d-relative.cpp
index 8a1ed547..7cc07ec7 100644
--- a/src/feature/feature-point6d-relative.cpp
+++ b/src/feature/feature-point6d-relative.cpp
@@ -56,14 +56,14 @@ FeaturePoint6dRelative( const string& pointName )
selectionSIN<<desiredValueSIN,
"sotFeatureAbstract("+name+")::output(vector)::errordot" )
{
- jacobianSOUT.addDependancy( positionReferenceSIN );
- jacobianSOUT.addDependancy( articularJacobianReferenceSIN );
+ jacobianSOUT.addDependency( positionReferenceSIN );
+ jacobianSOUT.addDependency( articularJacobianReferenceSIN );
- errorSOUT.addDependancy( positionReferenceSIN );
+ errorSOUT.addDependency( positionReferenceSIN );
- errordotSOUT.addDependancy(dotpositionReferenceSIN);
+ errordotSOUT.addDependency(dotpositionReferenceSIN);
- activationSOUT.removeDependancy( desiredValueSIN );
+ activationSOUT.removeDependency( desiredValueSIN );
signalRegistration( positionReferenceSIN<<articularJacobianReferenceSIN );
diff --git a/src/feature/feature-point6d.cpp b/src/feature/feature-point6d.cpp
index e5253741..852ab025 100644
--- a/src/feature/feature-point6d.cpp
+++ b/src/feature/feature-point6d.cpp
@@ -55,12 +55,12 @@ FeaturePoint6d( const string& pointName )
,positionSIN( NULL,"sotFeaturePoint6d("+name+")::input(matrixHomo)::position" )
,articularJacobianSIN( NULL,"sotFeaturePoint6d("+name+")::input(matrix)::Jq" )
{
- jacobianSOUT.addDependancy( positionSIN );
- jacobianSOUT.addDependancy( articularJacobianSIN );
+ jacobianSOUT.addDependency( positionSIN );
+ jacobianSOUT.addDependency( articularJacobianSIN );
- errorSOUT.addDependancy( positionSIN );
+ errorSOUT.addDependency( positionSIN );
- activationSOUT.removeDependancy( desiredValueSIN );
+ activationSOUT.removeDependency( desiredValueSIN );
signalRegistration( positionSIN<<articularJacobianSIN );
}
diff --git a/src/feature/feature-vector3.cpp b/src/feature/feature-vector3.cpp
index 81aa5830..370124a3 100644
--- a/src/feature/feature-vector3.cpp
+++ b/src/feature/feature-vector3.cpp
@@ -52,14 +52,14 @@ FeatureVector3( const string& pointName )
,articularJacobianSIN( NULL,"sotFeatureVector3("+name+")::input(matrix)::Jq" )
,positionRefSIN( NULL,"sotFeatureVector3("+name+")::input(vector)::positionRef" )
{
- jacobianSOUT.addDependancy( positionSIN );
- jacobianSOUT.addDependancy( articularJacobianSIN );
+ jacobianSOUT.addDependency( positionSIN );
+ jacobianSOUT.addDependency( articularJacobianSIN );
- errorSOUT.addDependancy( vectorSIN );
- errorSOUT.addDependancy( positionSIN );
- errorSOUT.addDependancy( positionRefSIN );
+ errorSOUT.addDependency( vectorSIN );
+ errorSOUT.addDependency( positionSIN );
+ errorSOUT.addDependency( positionRefSIN );
- activationSOUT.removeDependancy( desiredValueSIN );
+ activationSOUT.removeDependency( desiredValueSIN );
signalRegistration( vectorSIN<<positionSIN
<<articularJacobianSIN<<positionRefSIN );
diff --git a/src/feature/feature-visual-point.cpp b/src/feature/feature-visual-point.cpp
index d24186a0..b59cf59f 100644
--- a/src/feature/feature-visual-point.cpp
+++ b/src/feature/feature-visual-point.cpp
@@ -50,14 +50,14 @@ FeatureVisualPoint( const string& pointName )
{
ZSIN=1.;
- jacobianSOUT.addDependancy( xySIN );
- jacobianSOUT.addDependancy( ZSIN );
- jacobianSOUT.addDependancy( articularJacobianSIN );
+ jacobianSOUT.addDependency( xySIN );
+ jacobianSOUT.addDependency( ZSIN );
+ jacobianSOUT.addDependency( articularJacobianSIN );
- errorSOUT.addDependancy( xySIN );
- errorSOUT.addDependancy( ZSIN );
+ errorSOUT.addDependency( xySIN );
+ errorSOUT.addDependency( ZSIN );
- activationSOUT.removeDependancy( desiredValueSIN );
+ activationSOUT.removeDependency( desiredValueSIN );
signalRegistration( xySIN<<ZSIN<<articularJacobianSIN );
}
diff --git a/src/sot/sot-qr.cpp b/src/sot/sot-qr.cpp
index 9446ff0e..1d33ed97 100644
--- a/src/sot/sot-qr.cpp
+++ b/src/sot/sot-qr.cpp
@@ -88,9 +88,9 @@ void SotQr::
push( TaskAbstract& task )
{
stack.push_back( &task );
- controlSOUT.addDependancy( task.taskSOUT );
- controlSOUT.addDependancy( task.jacobianSOUT );
- //controlSOUT.addDependancy( task.featureActivationSOUT );
+ controlSOUT.addDependency( task.taskSOUT );
+ controlSOUT.addDependency( task.jacobianSOUT );
+ //controlSOUT.addDependency( task.featureActivationSOUT );
controlSOUT.setReady();
}
TaskAbstract& SotQr::
@@ -98,9 +98,9 @@ pop( void )
{
TaskAbstract* res = stack.back();
stack.pop_back();
- controlSOUT.removeDependancy( res->taskSOUT );
- controlSOUT.removeDependancy( res->jacobianSOUT );
- controlSOUT.removeDependancy( res->featureActivationSOUT );
+ controlSOUT.removeDependency( res->taskSOUT );
+ controlSOUT.removeDependency( res->jacobianSOUT );
+ controlSOUT.removeDependency( res->featureActivationSOUT );
controlSOUT.setReady();
return *res;
}
@@ -125,15 +125,15 @@ remove( const TaskAbstract& key )
if(! find ){ return; }
stack.erase( it );
- removeDependancy( key );
+ removeDependency( key );
}
void SotQr::
-removeDependancy( const TaskAbstract& key )
+removeDependency( const TaskAbstract& key )
{
- controlSOUT.removeDependancy( key.taskSOUT );
- controlSOUT.removeDependancy( key.jacobianSOUT );
- //controlSOUT.removeDependancy( key.featureActivationSOUT );
+ controlSOUT.removeDependency( key.taskSOUT );
+ controlSOUT.removeDependency( key.jacobianSOUT );
+ //controlSOUT.removeDependency( key.featureActivationSOUT );
controlSOUT.setReady();
}
@@ -182,7 +182,7 @@ clear( void )
{
for ( std::list<TaskAbstract*>::iterator it=stack.begin();stack.end()!=it;++it )
{
- removeDependancy( **it );
+ removeDependency( **it );
}
stack.clear();
controlSOUT.setReady();
@@ -196,7 +196,7 @@ void SotQr::
addConstraint( Constraint& constraint )
{
constraintList.push_back( &constraint );
- constraintSOUT.addDependancy( constraint.jacobianSOUT );
+ constraintSOUT.addDependency( constraint.jacobianSOUT );
}
void SotQr::
@@ -211,7 +211,7 @@ removeConstraint( const Constraint& key )
constraintList.erase( it );
- constraintSOUT.removeDependancy( key.jacobianSOUT );
+ constraintSOUT.removeDependency( key.jacobianSOUT );
}
void SotQr::
clearConstraint( void )
@@ -219,7 +219,7 @@ clearConstraint( void )
for ( ConstraintListType::iterator it=constraintList.begin();
constraintList.end()!=it;++it )
{
- constraintSOUT.removeDependancy( (*it)->jacobianSOUT );
+ constraintSOUT.removeDependency( (*it)->jacobianSOUT );
}
constraintList.clear();
}
diff --git a/src/sot/sot.cpp b/src/sot/sot.cpp
index 87a75411..fe186699 100644
--- a/src/sot/sot.cpp
+++ b/src/sot/sot.cpp
@@ -91,9 +91,9 @@ void Sot::
push( TaskAbstract& task )
{
stack.push_back( &task );
- controlSOUT.addDependancy( task.taskSOUT );
- controlSOUT.addDependancy( task.jacobianSOUT );
- //controlSOUT.addDependancy( task.featureActivationSOUT );
+ controlSOUT.addDependency( task.taskSOUT );
+ controlSOUT.addDependency( task.jacobianSOUT );
+ //controlSOUT.addDependency( task.featureActivationSOUT );
controlSOUT.setReady();
}
TaskAbstract& Sot::
@@ -101,9 +101,9 @@ pop( void )
{
TaskAbstract* res = stack.back();
stack.pop_back();
- controlSOUT.removeDependancy( res->taskSOUT );
- controlSOUT.removeDependancy( res->jacobianSOUT );
- controlSOUT.removeDependancy( res->featureActivationSOUT );
+ controlSOUT.removeDependency( res->taskSOUT );
+ controlSOUT.removeDependency( res->jacobianSOUT );
+ controlSOUT.removeDependency( res->featureActivationSOUT );
controlSOUT.setReady();
return *res;
}
@@ -128,15 +128,15 @@ remove( const TaskAbstract& key )
if(! find ){ return; }
stack.erase( it );
- removeDependancy( key );
+ removeDependency( key );
}
void Sot::
-removeDependancy( const TaskAbstract& key )
+removeDependency( const TaskAbstract& key )
{
- controlSOUT.removeDependancy( key.taskSOUT );
- controlSOUT.removeDependancy( key.jacobianSOUT );
- //controlSOUT.removeDependancy( key.featureActivationSOUT );
+ controlSOUT.removeDependency( key.taskSOUT );
+ controlSOUT.removeDependency( key.jacobianSOUT );
+ //controlSOUT.removeDependency( key.featureActivationSOUT );
controlSOUT.setReady();
}
@@ -185,7 +185,7 @@ clear( void )
{
for ( std::list<TaskAbstract*>::iterator it=stack.begin();stack.end()!=it;++it )
{
- removeDependancy( **it );
+ removeDependency( **it );
}
stack.clear();
controlSOUT.setReady();
@@ -199,7 +199,7 @@ void Sot::
addConstraint( Constraint& constraint )
{
constraintList.push_back( &constraint );
- constraintSOUT.addDependancy( constraint.jacobianSOUT );
+ constraintSOUT.addDependency( constraint.jacobianSOUT );
}
void Sot::
@@ -214,7 +214,7 @@ removeConstraint( const Constraint& key )
constraintList.erase( it );
- constraintSOUT.removeDependancy( key.jacobianSOUT );
+ constraintSOUT.removeDependency( key.jacobianSOUT );
}
void Sot::
clearConstraint( void )
@@ -222,7 +222,7 @@ clearConstraint( void )
for ( ConstraintListType::iterator it=constraintList.begin();
constraintList.end()!=it;++it )
{
- constraintSOUT.removeDependancy( (*it)->jacobianSOUT );
+ constraintSOUT.removeDependency( (*it)->jacobianSOUT );
}
constraintList.clear();
}
diff --git a/src/sot/weighted-sot.cpp b/src/sot/weighted-sot.cpp
index 1b9ba6b9..a467f6d2 100644
--- a/src/sot/weighted-sot.cpp
+++ b/src/sot/weighted-sot.cpp
@@ -64,7 +64,7 @@ WeightedSot( const std::string& name )
controlSOUT.setFunction( boost::bind(&WeightedSot::computeWeightedControlLaw,
this,_1,_2) );
- controlSOUT.addDependancy( squareRootInvWeightSIN );
+ controlSOUT.addDependency( squareRootInvWeightSIN );
constrainedWeightSIN.plug(&constrainedWeightSOUT);
sotDEBUGOUT(25);
diff --git a/src/task/constraint.cpp b/src/task/constraint.cpp
index 1d642fa7..bb6c0622 100644
--- a/src/task/constraint.cpp
+++ b/src/task/constraint.cpp
@@ -56,7 +56,7 @@ addJacobian( Signal< ml::Matrix,int >& sig )
{
sotDEBUGIN(15);
jacobianList.push_back(&sig);
- jacobianSOUT.addDependancy( sig );
+ jacobianSOUT.addDependency( sig );
sotDEBUGOUT(15);
}
void Constraint::
@@ -67,7 +67,7 @@ clearJacobianList( void )
iter!=jacobianList.end(); ++iter )
{
Signal< ml::Matrix,int >& s = **iter;
- jacobianSOUT.removeDependancy( s );
+ jacobianSOUT.removeDependency( s );
}
jacobianList.clear();
diff --git a/src/task/task-pd.cpp b/src/task/task-pd.cpp
index d32c550e..e8fe236f 100644
--- a/src/task/task-pd.cpp
+++ b/src/task/task-pd.cpp
@@ -54,7 +54,7 @@ TaskPD( const std::string& n )
"sotTaskPD("+n+")::input(vector)::errorDot" )
{
taskSOUT.setFunction( boost::bind(&TaskPD::computeTaskModif,this,_1,_2) );
- taskSOUT.addDependancy( errorDotSOUT );
+ taskSOUT.addDependency( errorDotSOUT );
signalRegistration( errorDotSOUT<<errorDotSIN );
errorDotSIN.plug( &errorDotSOUT );
diff --git a/src/task/task-unilateral.cpp b/src/task/task-unilateral.cpp
index 5549ddc8..e67e2b5d 100644
--- a/src/task/task-unilateral.cpp
+++ b/src/task/task-unilateral.cpp
@@ -53,11 +53,11 @@ TaskUnilateral( const std::string& n )
,dtSIN( NULL,"sotTaskUnilateral("+n+")::input(double)::dt" )
{
taskSOUT.setFunction( boost::bind(&TaskUnilateral::computeTaskUnilateral,this,_1,_2) );
- taskSOUT.clearDependancies();
- taskSOUT.addDependancy( referenceSupSIN );
- taskSOUT.addDependancy( referenceInfSIN );
- taskSOUT.addDependancy( dtSIN );
- taskSOUT.addDependancy( positionSIN );
+ taskSOUT.clearDependencies();
+ taskSOUT.addDependency( referenceSupSIN );
+ taskSOUT.addDependency( referenceInfSIN );
+ taskSOUT.addDependency( dtSIN );
+ taskSOUT.addDependency( positionSIN );
signalRegistration( referenceSupSIN<<dtSIN<<referenceInfSIN<<positionSIN );
}
diff --git a/src/task/task.cpp b/src/task/task.cpp
index b0ebf518..368a375f 100644
--- a/src/task/task.cpp
+++ b/src/task/task.cpp
@@ -54,10 +54,10 @@ Task( const std::string& n )
jacobianSOUT.setFunction( boost::bind(&Task::computeJacobian,this,_1,_2) );
featureActivationSOUT.setFunction( boost::bind(&Task::computeFeatureActivation,this,_1,_2) );
- taskSOUT.addDependancy( controlGainSIN );
- taskSOUT.addDependancy( errorSOUT );
+ taskSOUT.addDependency( controlGainSIN );
+ taskSOUT.addDependency( errorSOUT );
- jacobianSOUT.addDependancy( controlSelectionSIN );
+ jacobianSOUT.addDependency( controlSelectionSIN );
controlSelectionSIN = true;
@@ -71,9 +71,9 @@ void Task::
addFeature( FeatureAbstract& s )
{
featureList.push_back(&s);
- jacobianSOUT.addDependancy( s.jacobianSOUT );
- errorSOUT.addDependancy( s.errorSOUT );
- featureActivationSOUT.addDependancy( s.activationSOUT );
+ jacobianSOUT.addDependency( s.jacobianSOUT );
+ errorSOUT.addDependency( s.errorSOUT );
+ featureActivationSOUT.addDependency( s.activationSOUT );
}
void Task::
clearFeatureList( void )
@@ -83,9 +83,9 @@ clearFeatureList( void )
iter!=featureList.end(); ++iter )
{
FeatureAbstract & s = **iter;
- jacobianSOUT.removeDependancy( s.jacobianSOUT );
- errorSOUT.removeDependancy( s.errorSOUT );
- featureActivationSOUT.removeDependancy( s.activationSOUT );
+ jacobianSOUT.removeDependency( s.jacobianSOUT );
+ errorSOUT.removeDependency( s.errorSOUT );
+ featureActivationSOUT.removeDependency( s.activationSOUT );
}
featureList.clear();
diff --git a/unitTesting/signal/test_dep.cpp b/unitTesting/signal/test_dep.cpp
index e5d0c85c..95c57a93 100644
--- a/unitTesting/signal/test_dep.cpp
+++ b/unitTesting/signal/test_dep.cpp
@@ -122,16 +122,16 @@ int main( void )
sig5.setFunction( boost::bind(&DummyClass<double>::fun,pro5,_1,_2) );
sig6.setFunction( boost::bind(&DummyClass<ml::Vector>::fun,pro6,_1,_2) );
- // sig1.addDependancy(sig2);
- // sig1.addDependancy(sig3);
- // sig2.addDependancy(sig4);
- // sig2.addDependancy(sig4);
- // sig2.addDependancy(sig4);
- // sig3.addDependancy(sig2);
- // sig4.addDependancy(sig5);
- // sig2.addDependancy(sig6);
- // sig3.addDependancy(sig5);
- // sig3.addDependancy(sig6);
+ // sig1.addDependency(sig2);
+ // sig1.addDependency(sig3);
+ // sig2.addDependency(sig4);
+ // sig2.addDependency(sig4);
+ // sig2.addDependency(sig4);
+ // sig3.addDependency(sig2);
+ // sig4.addDependency(sig5);
+ // sig2.addDependency(sig6);
+ // sig3.addDependency(sig5);
+ // sig3.addDependency(sig6);
pro1.add(sig2);
pro1.add(sig3);
@@ -144,20 +144,20 @@ int main( void )
pro3.add(sig5);
pro3.add(sig6);
- //sig5.setDependancyType(TimeDependency<int>::ALWAYS_READY);
- //sig6.setDependancyType(TimeDependency<int>::BOOL_DEPENDANT);
+ //sig5.setDependencyType(TimeDependency<int>::ALWAYS_READY);
+ //sig6.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
sig6.setReady();
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
cout << "Needs update?"<< endl << sig1.needUpdate(2) << endl;
sig1.access(2);
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
sig2.access(4);
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
sig1.access(4);
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
sig1.needUpdate(6);
sig1.needUpdate(6);
diff --git a/unitTesting/signal/test_depend.cpp b/unitTesting/signal/test_depend.cpp
index 1ef43e6d..df9edc7f 100644
--- a/unitTesting/signal/test_depend.cpp
+++ b/unitTesting/signal/test_depend.cpp
@@ -135,23 +135,23 @@ int main( void )
pro3.add(sig5);
pro3.add(sig6);
- sig5.setDependancyType(TimeDependency<int>::ALWAYS_READY);
- sig6.setDependancyType(TimeDependency<int>::BOOL_DEPENDANT);
+ sig5.setDependencyType(TimeDependency<int>::ALWAYS_READY);
+ sig6.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
sig6.setReady();
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
cout << "Needs update?"<< endl << sig1.needUpdate(2) << endl;
dgDEBUG(1) << "Access sig1(2) "<<endl;
sig1.access(2);
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
dgDEBUG(1) << "Access sig2(4) "<<endl;
sig2.access(4);
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
dgDEBUG(1) << "Access sig1(4) "<<endl;
sig1.access(4);
- sig1.displayDependancies(cout)<<endl;
+ sig1.displayDependencies(cout)<<endl;
sig1.needUpdate(6);
sig1.needUpdate(6);
diff --git a/unitTesting/sot/tsot.cpp b/unitTesting/sot/tsot.cpp
index 32521d61..7b3e08ee 100644
--- a/unitTesting/sot/tsot.cpp
+++ b/unitTesting/sot/tsot.cpp
@@ -79,7 +79,7 @@ int main( void )
task->controlSelectionSIN = Flags(true);
task->jacobianSOUT.display(cout)<<endl;
- task->jacobianSOUT.displayDependancies(cout)<<endl;
+ task->jacobianSOUT.displayDependencies(cout)<<endl;
sotDEBUG(0) << "J"<< task->jacobianSOUT(2);
sotDEBUG(0) <<"H"<< task->featureActivationSOUT(2)<<endl;
--
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