fixed reference counting problem testing maybe needed?

source/RobotAPI/libraries/robotstate/SharedRobotServants.cpp

@@ -50,6 +50,7 @@ void SharedObjectBase::ref(const Current &c)
     boost::lock_guard<boost::mutex> lock(this->_counterMutex);
 
     _referenceCount++;
+
     #ifdef VERBOSE
     ARMARX_LOG_S << "ref: " <<  _referenceCount << " " << this << flush;
     #endif

source/RobotAPI/libraries/robotstate/remote/LinkedPose.cpp

@@ -25,6 +25,21 @@ namespace armarx {
         this->referenceRobot = NULL;
     }
 
+    LinkedPose::LinkedPose(const LinkedPose &other) :
+        IceUtil::Shared(other),
+        PoseBase(other),
+        FramedPoseBase(other),
+        LinkedPoseBase(other),
+        Pose(other),
+        FramedPose(other)
+    {
+        if(referenceRobot)
+        {
+            //ARMARX_WARNING_S << "Calling referenceRobot->ref() in cctor of LinkedPose";
+            referenceRobot->ref();
+        }
+    }
+
     LinkedPose::LinkedPose(const Eigen::Matrix3f& m, const Eigen::Vector3f& v, const std::string& s, const SharedRobotInterfacePrx& referenceRobot) :
         Pose(m, v),
         FramedPose(m, v, s)
@@ -130,6 +145,46 @@ namespace armarx {
         }
     }
 
+    void LinkedPose::__read(IceInternal::BasicStream *__is, bool __rid)
+    {
+        LinkedPoseBase::__read(__is, __rid);
+        if(referenceRobot)
+        {
+            //ARMARX_WARNING_S << "Calling referenceRobot->ref() in __read(IceInternal::BasicStream *__is, bool __rid) of LinkedPose";
+            referenceRobot->ref();
+        }
+    }
+
+    void LinkedPose::__read(const Ice::InputStreamPtr &__is, bool __rid)
+    {
+        LinkedPoseBase::__read(__is, __rid);
+        if(referenceRobot)
+        {
+            //ARMARX_WARNING_S << "Calling referenceRobot->ref() in __read(const Ice::InputStreamPtr &__is, bool __rid) of LinkedPose";
+            referenceRobot->ref();
+        }
+    }
+
+    /*void LinkedPose::__write(IceInternal::BasicStream *__os) const
+    {
+        LinkedPoseBase::__write(__os);
+        if(referenceRobot)
+        {
+            ARMARX_WARNING_S << "Calling referenceRobot->ref() in __write(IceInternal::BasicStream *__os) of LinkedPose";
+            referenceRobot->ref();
+        }
+    }
+
+    void LinkedPose::__write(const Ice::OutputStreamPtr &__os) const
+    {
+        LinkedPoseBase::__write(__os);
+        if(referenceRobot)
+        {
+            ARMARX_WARNING_S << "Calling referenceRobot->ref() in __write(const Ice::OutputStreamPtr &__os) of LinkedPose";
+            referenceRobot->ref();
+        }
+    }*/
+
     LinkedVector3::LinkedVector3()
     {
     }

source/RobotAPI/libraries/robotstate/remote/LinkedPose.h

@@ -61,6 +61,7 @@ namespace armarx
     {
     public:
         LinkedPose();
+        LinkedPose(const LinkedPose &other);
         LinkedPose(const Eigen::Matrix3f& m, const Eigen::Vector3f& v, const std::string& frame, const SharedRobotInterfacePrx& referenceRobot);
         LinkedPose(const Eigen::Matrix4f& m, const std::string& frame, const SharedRobotInterfacePrx& referenceRobot);
 
@@ -125,6 +126,9 @@ namespace armarx
     public:
         virtual void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const;
         virtual void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current());
+
+        virtual void __read(::IceInternal::BasicStream *__is, bool __rid);
+        virtual void __read(const ::Ice::InputStreamPtr &__is, bool __rid);
     };
 
     typedef IceInternal::Handle<LinkedPose> LinkedPosePtr;