From cda8b82f519496acb10676130435b7d70ab61661 Mon Sep 17 00:00:00 2001
From: Stefan Reither <stef.reither@web.de>
Date: Fri, 10 Nov 2017 18:19:05 +0100
Subject: [PATCH] fix missing assignment of locks to local variables
---
source/RobotAPI/libraries/core/PIDController.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index 97f5829f4..e39f631ab 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -164,7 +164,7 @@ MultiDimPIDController::MultiDimPIDController(float Kp, float Ki, float Kd, doubl
void MultiDimPIDController::update(const double deltaSec, const Eigen::VectorXf& measuredValue, const Eigen::VectorXf& targetValue)
{
- getLock();
+ ScopedRecursiveLockPtr lock = getLock();
processValue = measuredValue;
target = targetValue;
@@ -240,7 +240,7 @@ void MultiDimPIDController::update(const double deltaSec, const Eigen::VectorXf&
void MultiDimPIDController::update(const Eigen::VectorXf& measuredValue, const Eigen::VectorXf& targetValue)
{
- getLock();
+ ScopedRecursiveLockPtr lock = getLock();
IceUtil::Time now = TimeUtil::GetTime();
if (firstRun)
@@ -260,7 +260,7 @@ const Eigen::VectorXf& MultiDimPIDController::getControlValue() const
void MultiDimPIDController::reset()
{
- getLock();
+ ScopedRecursiveLockPtr lock = getLock();
firstRun = true;
previousError = 0;
integral = 0;
@@ -284,6 +284,6 @@ ScopedRecursiveLockPtr MultiDimPIDController::getLock() const
void MultiDimPIDController::setMaxControlValue(double value)
{
- getLock();
+ ScopedRecursiveLockPtr lock = getLock();
maxControlValue = value;
}
--
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