From 4f17228f840f22cffc35ef865b22117d125e1f29 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 4 Dec 2015 16:25:14 +0100
Subject: [PATCH] minor ftobs tweak
---
.../RobotAPI/components/units/ForceTorqueObserver.cpp | 11 ++++++-----
1 file changed, 6 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index 2fa220da6..d2048901b 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -95,18 +95,19 @@ void ForceTorqueObserver::offerValue(std::string nodeName, const std::string& ty
{
FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(value);
- if (!existsChannel(id->channelName))
- {
- offerChannel(id->channelName, type + " vectors on specific parts of the robot.");
- }
+
if (!existsDataField(id->channelName, id->datafieldName))
{
+ if (!existsChannel(id->channelName))
+ {
+ offerChannel(id->channelName, type + " vectors on specific parts of the robot.");
+ }
offerDataFieldWithDefault(id->channelName, id->datafieldName, Variant(value), "3D vector for " + type + " of " + nodeName);
}
else
{
- setDataField(id->channelName, id->datafieldName, Variant(value));
+ setDataFieldFlatCopy(id->channelName, id->datafieldName, new Variant(value));
}
--
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