From fdc9aa97be1c910a53c983316a15ce416e74b6d6 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 23 Jun 2022 13:37:17 +0200
Subject: [PATCH] scene: no longer needing thread-safe version
---
source/armarx/navigation/core/Trajectory.h | 2 ++
source/armarx/navigation/core/types.h | 4 ----
2 files changed, 2 insertions(+), 4 deletions(-)
diff --git a/source/armarx/navigation/core/Trajectory.h b/source/armarx/navigation/core/Trajectory.h
index e9985faf..fd5f7e4f 100644
--- a/source/armarx/navigation/core/Trajectory.h
+++ b/source/armarx/navigation/core/Trajectory.h
@@ -66,6 +66,8 @@ namespace armarx::navigation::core
class Trajectory
{
public:
+ Trajectory() = default;
+
Trajectory(const std::vector<TrajectoryPoint>& points) : pts(points)
{
}
diff --git a/source/armarx/navigation/core/types.h b/source/armarx/navigation/core/types.h
index a0529cb0..3b5df564 100644
--- a/source/armarx/navigation/core/types.h
+++ b/source/armarx/navigation/core/types.h
@@ -78,18 +78,14 @@ namespace armarx::navigation::core
struct Scene
{
- mutable std::mutex staticSceneMtx;
std::optional<core::StaticScene> staticScene = std::nullopt;
- mutable std::mutex dynamicSceneMtx;
std::optional<core::DynamicScene> dynamicScene = std::nullopt;
// TopologicMapPtr topologicMap;
VirtualRobot::RobotPtr robot;
- mutable std::mutex platformVelocityMtx;
std::optional<core::Twist> platformVelocity;
- mutable std::mutex graphMtx;
std::optional<core::SceneGraph> graph;
TimeServerInterface* timeServer;
--
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