Update the IK component accordingly to the dd85955

ami-iit · Oct 19, 2021 · e063136 · e063136
1 parent dd85955
commit e063136
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Showing 8 changed files with 8 additions and 8 deletions.
diff --git a/src/IK/include/BipedalLocomotion/IK/CoMTask.h b/src/IK/include/BipedalLocomotion/IK/CoMTask.h
@@ -84,7 +84,7 @@ class CoMTask : public IKLinearTask
      * (expressed in mixed representation) and the joint velocities.
      * @return True in case of success, false otherwise.
      */
-    bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler);
+    bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override;
 
     /**
      * Set the kinDynComputations object.

diff --git a/src/IK/include/BipedalLocomotion/IK/JointTrackingTask.h b/src/IK/include/BipedalLocomotion/IK/JointTrackingTask.h
@@ -62,7 +62,7 @@ class JointTrackingTask : public IKLinearTask
      * (expressed in mixed representation) and the joint velocities.
      * @return True in case of success, false otherwise.
      */
-    bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler);
+    bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override;
 
     /**
      * Set the kinDynComputations object.

diff --git a/src/IK/include/BipedalLocomotion/IK/SE3Task.h b/src/IK/include/BipedalLocomotion/IK/SE3Task.h
@@ -96,7 +96,7 @@ class SE3Task : public IKLinearTask, public BipedalLocomotion::System::ITaskCont
      * (expressed in mixed representation) and the joint velocities.
      * @return True in case of success, false otherwise.
      */
-    bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler);
+    bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override;
 
     /**
      * Set the kinDynComputations object.

diff --git a/src/IK/include/BipedalLocomotion/IK/SO3Task.h b/src/IK/include/BipedalLocomotion/IK/SO3Task.h
@@ -76,7 +76,7 @@ class SO3Task : public IKLinearTask
      * (expressed in mixed representation) and the joint velocities.
      * @return True in case of success, false otherwise.
      */
-    bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler);
+    bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override;
 
     /**
      * Set the kinDynComputations object.

diff --git a/src/IK/src/CoMTask.cpp b/src/IK/src/CoMTask.cpp
@@ -65,7 +65,7 @@ bool CoMTask::setVariablesHandler(const System::VariablesHandler& variablesHandl
     return true;
 }
 
-bool CoMTask::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler)
+bool CoMTask::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler)
 {
     constexpr auto errorPrefix = "[CoMTask::initialize]";
 

diff --git a/src/IK/src/JointTrackingTask.cpp b/src/IK/src/JointTrackingTask.cpp
@@ -71,7 +71,7 @@ bool JointTrackingTask::setVariablesHandler(const System::VariablesHandler& vari
     return true;
 }
 
-bool JointTrackingTask::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler)
+bool JointTrackingTask::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler)
 {
     constexpr auto errorPrefix = "[JointTrackingTask::initialize] ";
 

diff --git a/src/IK/src/SE3Task.cpp b/src/IK/src/SE3Task.cpp
@@ -65,7 +65,7 @@ bool SE3Task::setVariablesHandler(const System::VariablesHandler& variablesHandl
     return true;
 }
 
-bool SE3Task::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler)
+bool SE3Task::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler)
 {
     constexpr auto errorPrefix = "[SE3Task::initialize] ";
 

diff --git a/src/IK/src/SO3Task.cpp b/src/IK/src/SO3Task.cpp
@@ -65,7 +65,7 @@ bool SO3Task::setVariablesHandler(const System::VariablesHandler& variablesHandl
     return true;
 }
 
-bool SO3Task::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> paramHandler)
+bool SO3Task::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler)
 {
     constexpr std::string_view errorPrefix = "[SO3Task::initialize] ";