From 8101f7e448f0ef053f084c9dfbdab596eb102337 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Wed, 17 Nov 2021 12:02:52 +0100
Subject: [PATCH] fix reset for PlatformUnit
- newTarget was not commited to write buffer in
NJointHolonomicPlatformGlobalPositionController
---
.../NJointHolonomicPlatformGlobalPositionController.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index 77f9c8d8b..06513b416 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -62,7 +62,10 @@ namespace armarx
{
pid.reset();
opid.reset();
- *const_cast<bool*>(&rtGetControlStruct().newTargetSet) = false;
+
+ getWriterControlStruct().newTargetSet = false;
+ writeControlStruct();
+
isAborted = false;
}
if (isAborted)
--
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