From edeeacb5517c4324f2ea5c4d4e1135f7829fa924 Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Fri, 9 Jul 2021 17:06:09 +0200
Subject: [PATCH] fix: Atomic operations for atomic bool.
---
source/Navigation/libraries/server/Navigator.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/Navigation/libraries/server/Navigator.cpp b/source/Navigation/libraries/server/Navigator.cpp
index 3ec4c60a..0290679b 100644
--- a/source/Navigation/libraries/server/Navigator.cpp
+++ b/source/Navigation/libraries/server/Navigator.cpp
@@ -102,7 +102,7 @@ namespace armarx::nav::server
res.safeVelocity = stack.safetyControl->control(res.controlVelocity.value());
}
- if (movementEnabled)
+ if (movementEnabled.load())
{
executor->move(res.velocity());
}
@@ -124,7 +124,7 @@ namespace armarx::nav::server
void Navigator::pauseMovement()
{
- movementEnabled = false;
+ movementEnabled.store(false);
const core::Twist zero{Eigen::Vector3f::Zero(), Eigen::Vector3f::Zero()};
executor->move(zero);
}
@@ -132,7 +132,7 @@ namespace armarx::nav::server
void Navigator::resumeMovement()
{
- movementEnabled = true;
+ movementEnabled.store(true);
}
} // namespace armarx::nav::server
--
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