Add command AddFeature in sot::Task

    * src/task/task-command.h: new,
    * src/task/task.cpp.

src/task/task-command.h

+/*
+ * Copyright 2010,
+ * Florent Lamiraux
+ *
+ * CNRS
+ *
+ * This file is part of sot-core.
+ * sot-core 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-core 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-core.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef TASK_COMMAND_H
+ #define TASK_COMMAND_H
+
+ #include <boost/assign/list_of.hpp>
+
+ #include <dynamic-graph/command.h>
+ #include <dynamic-graph/command-setter.h>
+ #include <dynamic-graph/command-getter.h>
+
+namespace sot {
+  namespace command {
+    namespace task {
+      using ::dynamicgraph::command::Command;
+      using ::dynamicgraph::command::Value;
+      
+      // Command AddFeature
+      class AddFeature : public Command
+      {
+      public:
+	virtual ~AddFeature() {}
+	/// Create command and store it in Entity
+	/// \param entity instance of Entity owning this command
+	/// \param docstring documentation of the command
+      AddFeature(Task& entity, const std::string& docstring) :
+	Command(entity, boost::assign::list_of(Value::STRING), docstring)
+	  {
+	  }
+	virtual Value doExecute()
+	{
+	  Task& task = static_cast<Task&>(owner());
+	  std::vector<Value> values = getParameterValues();
+	  std::string featureName = values[0].value();
+	  FeatureAbstract& feature = sotPool.getFeature(featureName);
+	  task.addFeature(feature);
+	  // return void
+	  return Value();
+	}
+      }; // class AddFeature
+    } // namespace task
+  } // namespace command
+} //namespace sot
+
+#endif //TASK_COMMAND_H

src/task/task.cpp

@@ -25,11 +25,14 @@
 /* SOT */
 #include <sot-core/task.h>
 #include <sot-core/debug.h>
+
+#include <sot-core/pool.h>
+#include "../src/task/task-command.h"
+
 using namespace std;
 using namespace sot;
 using namespace dynamicgraph;
 
-
 #include <sot-core/factory.h>
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Task,"Task");
 
@@ -63,6 +66,21 @@ Task( const std::string& n )
 
   signalRegistration( controlGainSIN<<dampingGainSINOUT
 		      <<controlSelectionSIN<<errorSOUT );
+
+  //
+  // Commands
+  //
+  std::string docstring;
+  // AddFeature
+  docstring = "    \n"
+    "    \n"
+    "    Add a feature to the task\n"
+    "    \n"
+    "      Input:\n"
+    "        - name of the feature\n"
+    "    \n";
+  addCommand("add",
+	     new command::task::AddFeature(*this, docstring));
 }
 
 
@@ -307,7 +325,6 @@ display( std::ostream& os ) const
 /* --- PARAMS --------------------------------------------------------------- */
 /* --- PARAMS --------------------------------------------------------------- */
 /* --- PARAMS --------------------------------------------------------------- */
-#include <sot-core/pool.h>
 
 static void readListIdx( std::istringstream& cmdArgs,
 			 unsigned int & idx_beg,unsigned int &idx_end,