Register signal one by one.

src/angle-estimator.cpp

@@ -91,13 +91,21 @@ AngleEstimator( const std::string & name )
 {
   sotDEBUGIN(5);
 
-  signalRegistration( sensorWorldRotationSIN     << sensorEmbeddedPositionSIN
-		      << contactWorldPositionSIN << contactEmbeddedPositionSIN
-		      << anglesSOUT              << flexibilitySOUT
-		      << driftSOUT               << sensorWorldRotationSOUT
-		      << waistWorldRotationSOUT
-		      << waistWorldPositionSOUT  << waistWorldPoseRPYSOUT
-		      << jacobianSIN << qdotSIN << xff_dotSOUT << qdotSOUT );
+  signalRegistration(sensorWorldRotationSIN);
+  signalRegistration(sensorEmbeddedPositionSIN);
+  signalRegistration(contactWorldPositionSIN);
+  signalRegistration(contactEmbeddedPositionSIN);
+  signalRegistration(anglesSOUT);
+  signalRegistration(flexibilitySOUT);
+  signalRegistration(driftSOUT);
+  signalRegistration(sensorWorldRotationSOUT);
+  signalRegistration(waistWorldRotationSOUT);
+  signalRegistration(waistWorldPositionSOUT);
+  signalRegistration(waistWorldPoseRPYSOUT);
+  signalRegistration(jacobianSIN);
+  signalRegistration(qdotSIN);
+  signalRegistration(xff_dotSOUT);
+  signalRegistration(qdotSOUT);
 
   /* Commands. */
   {

src/dynamic.cpp

@@ -145,13 +145,25 @@ Dynamic( const std::string & name, bool build )
   firstSINTERN.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
   //DEBUG: Why =0? should be function. firstSINTERN.setConstant(0);
 
-  signalRegistration( jointPositionSIN<<freeFlyerPositionSIN
-		      <<jointVelocitySIN<<freeFlyerVelocitySIN
-		      <<jointAccelerationSIN<<freeFlyerAccelerationSIN);
-  signalRegistration( zmpSOUT<<comSOUT<<JcomSOUT<<footHeightSOUT);
-  signalRegistration(upperJlSOUT<<lowerJlSOUT<<inertiaSOUT
-		     <<inertiaRealSOUT << inertiaRotorSOUT << gearRatioSOUT );
-  signalRegistration( MomentaSOUT << AngularMomentumSOUT << dynamicDriftSOUT);
+  signalRegistration(jointPositionSIN);
+  signalRegistration(freeFlyerPositionSIN);
+  signalRegistration(jointVelocitySIN);
+  signalRegistration(freeFlyerVelocitySIN);
+  signalRegistration(jointAccelerationSIN);
+  signalRegistration(freeFlyerAccelerationSIN);
+  signalRegistration(zmpSOUT);
+  signalRegistration(comSOUT);
+  signalRegistration(JcomSOUT);
+  signalRegistration(footHeightSOUT);
+  signalRegistration(upperJlSOUT);
+  signalRegistration(lowerJlSOUT);
+  signalRegistration(inertiaSOUT);
+  signalRegistration(inertiaRealSOUT);
+  signalRegistration(inertiaRotorSOUT);
+  signalRegistration(gearRatioSOUT);
+  signalRegistration( MomentaSOUT);
+  signalRegistration(AngularMomentumSOUT);
+  signalRegistration(dynamicDriftSOUT);
 
   //
   // Commands

src/force-compensation.cpp

@@ -99,18 +99,27 @@ ForceCompensationPlugin( const std::string & name )
 {
   sotDEBUGIN(5);
 
-  signalRegistration( torsorSIN<< worldRhandSIN
-		      << handRsensorSIN << translationSensorComSIN
-		      << gravitySIN << precompensationSIN << gainSensorSIN
-		      << deadZoneLimitSIN
-		      << transSensorJointSIN << inertiaJointSIN
-		      << velocitySIN << accelerationSIN
-
-		      << handXworldSOUT << handVsensorSOUT << torsorDeadZoneSIN
-		      << sensorXhandSOUT //<< inertiaSensorSOUT
-		      << momentumSOUT << momentumSIN
-		      << torsorCompensatedSOUT << torsorDeadZoneSOUT
-		      << calibrationTrigerSOUT );
+  signalRegistration(torsorSIN);
+  signalRegistration(worldRhandSIN);
+  signalRegistration(handRsensorSIN);
+  signalRegistration(translationSensorComSIN);
+  signalRegistration(gravitySIN);
+  signalRegistration(precompensationSIN);
+  signalRegistration(gainSensorSIN);
+  signalRegistration(deadZoneLimitSIN);
+  signalRegistration(transSensorJointSIN);
+  signalRegistration(inertiaJointSIN);
+  signalRegistration(velocitySIN );
+  signalRegistration(accelerationSIN);
+  signalRegistration(handXworldSOUT);
+  signalRegistration(handVsensorSOUT);
+  signalRegistration(torsorDeadZoneSIN);
+  signalRegistration(sensorXhandSOUT);
+  signalRegistration(momentumSOUT);
+  signalRegistration(momentumSIN);
+  signalRegistration(torsorCompensatedSOUT);
+  signalRegistration(torsorDeadZoneSOUT);
+  signalRegistration(calibrationTrigerSOUT);
   torsorDeadZoneSIN.plug(&torsorCompensatedSOUT);
 
   // By default, I choose: momentum is not compensated.

src/integrator-force.cpp

@@ -52,10 +52,14 @@ IntegratorForce( const std::string & name )
 {
   sotDEBUGIN(5);
   
-  signalRegistration( forceSIN                   << massInverseSIN
-		      << frictionSIN             << velocityPrecSIN
-		      << velocityDerivativeSOUT  << velocitySOUT 
-		      << massInverseSOUT         << massSIN );
+  signalRegistration(forceSIN);
+  signalRegistration(massInverseSIN);
+  signalRegistration(frictionSIN);
+  signalRegistration(velocityPrecSIN);
+  signalRegistration(velocityDerivativeSOUT  );
+  signalRegistration(velocitySOUT );
+  signalRegistration(massInverseSOUT );
+  signalRegistration(massSIN );
 
   massInverseSIN.plug( &massInverseSOUT );
 

src/mass-apparent.cpp

@@ -46,8 +46,12 @@ MassApparent( const std::string & name )
 {
   sotDEBUGIN(5);
   
-  signalRegistration( jacobianSIN << inertiaInverseSIN << massInverseSOUT << massSOUT 
-		      << inertiaSIN << inertiaInverseSOUT);
+  signalRegistration(jacobianSIN);
+  signalRegistration(inertiaInverseSIN);
+  signalRegistration(massInverseSOUT);
+  signalRegistration(massSOUT);
+  signalRegistration(inertiaSIN);
+  signalRegistration(inertiaInverseSOUT);
   inertiaInverseSIN.plug( &inertiaInverseSOUT );
 
   sotDEBUGOUT(5);

src/waist-attitude-from-sensor.cpp

@@ -41,8 +41,9 @@ WaistAttitudeFromSensor( const std::string & name )
 {
   sotDEBUGIN(5);
 
-  signalRegistration( attitudeSensorSIN<<positionSensorSIN
-		      <<attitudeWaistSOUT );
+  signalRegistration(attitudeSensorSIN);
+  signalRegistration(positionSensorSIN);
+  signalRegistration(attitudeWaistSOUT);
 
   sotDEBUGOUT(5);
 }
@@ -117,7 +118,8 @@ WaistPoseFromSensorAndContact( const std::string & name )
 {
   sotDEBUGIN(5);
 
-  signalRegistration( positionContactSIN<<positionWaistSOUT );
+  signalRegistration( positionContactSIN);
+  signalRegistration(positionWaistSOUT );
 
   // Commands
   std::string docstring;

src/zmpreffromcom.cpp

@@ -44,7 +44,10 @@ ZmprefFromCom( const std::string & name )
 {
   sotDEBUGIN(5);
 
-  signalRegistration(waistPositionSIN<<comPositionSIN<<dcomSIN<<zmprefSOUT );
+  signalRegistration(waistPositionSIN);
+  signalRegistration(comPositionSIN);
+  signalRegistration(dcomSIN);
+  signalRegistration(zmprefSOUT);
 
   sotDEBUGOUT(5);
 }