From 67aa1caa6840b8c10eab1ad8d926ad084ff93508 Mon Sep 17 00:00:00 2001
From: Lukas Kaul <lukas.s.kaul@gmail.com>
Date: Wed, 30 Mar 2016 10:53:15 +0200
Subject: [PATCH] RobotStateComponent: Fixed segfault in reportJointAngles
---
.../RobotState/RobotStateComponent.cpp | 18 ++++++++----------
1 file changed, 8 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 447dca068..9409ae2cf 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -253,7 +253,7 @@ namespace armarx
float influenceNext = 1.0f - (float)(it->first - time) / deltaT;
float influencePrev = 1.0f - (float)(time - prevIt->first) / deltaT;
auto jointIt = prevIt->second.jointMap.begin();
- for (auto & joint : config.jointMap)
+ for (auto& joint : config.jointMap)
{
joint.second = joint.second * influenceNext + jointIt->second * influencePrev;
jointIt++;
@@ -279,11 +279,11 @@ namespace armarx
void RobotStateComponent::reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Current& c)
{
- // IceUtil::Time start = IceUtil::Time::now();
if (timestamp <= 0)
{
timestamp = IceUtil::Time::now().toMicroSeconds();
}
+
if (aValueChanged)
{
{
@@ -311,18 +311,16 @@ namespace armarx
_sharedRobotServant->setTimestamp(IceUtil::Time::microSeconds(timestamp));
}
- history[timestamp] = {timestamp,
- new FramedPose(_synchronized->getGlobalPose(), GlobalFrame, ""),
- jointAngles
- };
+ RobotStateConfig config;
+ config.timestamp = timestamp;
+ config.globalPose = new FramedPose(_synchronized->getGlobalPose(), GlobalFrame, "");
+ config.jointMap = jointAngles;
+ history[timestamp] = config;
if (history.size() > historyLength)
{
history.erase(history.begin());
}
- // ARMARX_VERBOSE << deactivateSpam(2) << "my duration: " << (IceUtil::Time::now() - start).toMicroSecondsDouble() << " ms";
-
-
}
std::string RobotStateComponent::getRobotFilename(const Ice::Current&) const
@@ -341,7 +339,7 @@ namespace armarx
auto packages = armarx::Application::GetProjectDependencies();
packages.push_back(Application::GetProjectName());
- for (const std::string & projectName : packages)
+ for (const std::string& projectName : packages)
{
if (projectName.empty())
{
--
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