From ba3ca6872af184daa946aa63ad4be15de15e1801 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 23 Jun 2022 13:40:15 +0200
Subject: [PATCH] server/monitoring: removing mutex
---
.../navigation/server/monitoring/GoalReachedMonitor.cpp | 4 ----
1 file changed, 4 deletions(-)
diff --git a/source/armarx/navigation/server/monitoring/GoalReachedMonitor.cpp b/source/armarx/navigation/server/monitoring/GoalReachedMonitor.cpp
index bb7e134b..923eeb12 100644
--- a/source/armarx/navigation/server/monitoring/GoalReachedMonitor.cpp
+++ b/source/armarx/navigation/server/monitoring/GoalReachedMonitor.cpp
@@ -42,8 +42,6 @@ namespace armarx::navigation::server
ARMARX_DEBUG << "Orientation goal reached";
}
- std::unique_lock lock{
- scene.platformVelocityMtx}; // thread-safe access to scene.platformVelocity
if (not scene.platformVelocity.has_value())
{
@@ -55,8 +53,6 @@ namespace armarx::navigation::server
const bool angularVelocityLow =
scene.platformVelocity->angular.norm() < config.angularVelTh;
- lock.unlock();
-
const bool velocityLow = linearVelocityLow and angularVelocityLow;
if (velocityLow)
--
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