Caspar's suggested modifications

[Shuyun Chung]

1. Task activate/deactivate in CTaskController's task hierarchy: (a) Add a bool to STaskBase saying whether it is active or not (b) Add code to the task controller to skip inactive tasks). (c) Add a function to CTaskController to activate/deactivate tasks

2. It is hard to access the dynamics_ implementation for people who want to get info.. Give people an accessor function in CRobot: Should return a const pointer to this: CDynamicsBase* dynamics_;

[Samir Menon]

Caspar,

Done. Details in the following commits.

Please read the commit logs, and close the issue when you get it : 1 (a) b9ad0fedf25e7bb42c6835eb567f0a56bc75a9de 1 (b,c) ce05394cdd2c492dd5bc8469ceb26cb9c40dbddf

Also added support for calling the non-control tasks in: 1a44c4c594205edf1e4efbb951de11676343c4f4 20f4f76c5db28bacd37004870f929ddc962a493a 08940f639d22810a8f0f8e2dab86c3dc4c9b31fa 97797591c32654e408342fa260786a3d7b174176

2 65bd7113660f643d3b87df1d75cbf38b68e9bd8a

[Shuyun Chung]

(Reply via [e-mail]):

That is great! thanks~

Caspar