From 2c16c43ff521e1a26485c5c6d4d089d21fd885a5 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 29 Nov 2021 18:27:50 +0100
Subject: [PATCH] armem_robot_state/client/common/RobotReader: fix for method
to return list of entity instances
---
.../armem_robot_state/client/common/RobotReader.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 92c5039ca..5309febc6 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -569,10 +569,9 @@ namespace armarx::armem::robot_state
.getCoreSegment(properties.proprioceptionCoreSegment);
// clang-format on
- coreSegment.forEachEntity(
- [&forceTorques](const wm::Entity& entity)
+ coreSegment.forEachInstance(
+ [&forceTorques](const wm::EntityInstance& entityInstance)
{
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
const auto proprioception =
tryCast<::armarx::armem::arondto::Proprioception>(entityInstance);
--
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