Method: Roby::PlanningLoop#initialize

Defined in:
lib/roby/planning/loops.rb

#initialize(options) ⇒ PlanningLoop 



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# File 'lib/roby/planning/loops.rb', line 104

def initialize(options)
    task_arguments, planning_options = PlanningLoop.filter_options(options)
    task_arguments[:method_options].merge!(planning_options)
    super(task_arguments)

           if period && period > 0
               @periodic_trigger = State.on_delta :t => period
               periodic_trigger.disable
               periodic_trigger.on event(:loop_start)
           end
           
    @patterns = []
           @pattern_id = 0
end