From 25d1fd8c8a28db77e54d9cdf82b64008950d85b1 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Wed, 17 Nov 2021 13:17:04 +0100
Subject: [PATCH] fix NJointHolonomicPlatformRelativePositionController
- newTarget was not commited to write buffer
---
.../NJointHolonomicPlatformRelativePositionController.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
index 8ec32aa03..f5ca65618 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
@@ -61,7 +61,8 @@ namespace armarx
startPosition = currentPosition;
startOrientation = currentOrientation;
pid.reset();
- *const_cast<bool*>(&rtGetControlStruct().newTargetSet) = false;
+ getWriterControlStruct().newTargetSet = false;
+ writeControlStruct();
}
//position pid
--
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