Change NJointController::useSynchronizedRtRobot to return the rtRobot

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp

@@ -252,7 +252,7 @@ namespace armarx
         return RobotUnitModule::Devices::Instance().getControlDevice(deviceName);
     }
 
-    void NJointController::useSynchronizedRtRobot(bool updateCollisionModel)
+    const VirtualRobot::RobotPtr& NJointController::useSynchronizedRtRobot(bool updateCollisionModel)
     {
         ARMARX_CHECK_EXPRESSION_W_HINT(
             NJointControllerRegistryEntry::ConstructorIsRunning(),
@@ -261,6 +261,7 @@ namespace armarx
         ARMARX_CHECK_IS_NULL_W_HINT(rtRobot, "useSynchronizedRtRobot was already called");
         rtRobot = RobotUnitModule::RobotData::Instance().cloneRobot(updateCollisionModel);
         rtRobotNodes = rtRobot->getRobotNodes();
+        return rtRobot;
     }
 
     void NJointController::onInitComponent()

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h

@@ -643,7 +643,7 @@ namespace armarx
          * @param updateCollisionModel Whether the robot's collision model should be updated
          * @see rtGetRobot
          */
-        void useSynchronizedRtRobot(bool updateCollisionModel = false);
+        const VirtualRobot::RobotPtr& useSynchronizedRtRobot(bool updateCollisionModel = false);
 
         // //////////////////////////////////////////////////////////////////////////////////////// //
         // ////////////////////////////////// Component interface ///////////////////////////////// //