From 18fca3e56a7686fc667576c5f5d571634444dfbc Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Thu, 17 Nov 2022 14:03:05 +0100
Subject: [PATCH] draft: cleanup in d'tor of navigator
---
source/armarx/navigation/client/Navigator.cpp | 6 ++++++
source/armarx/navigation/client/Navigator.h | 1 +
2 files changed, 7 insertions(+)
diff --git a/source/armarx/navigation/client/Navigator.cpp b/source/armarx/navigation/client/Navigator.cpp
index 73ab51bc..04f6d719 100644
--- a/source/armarx/navigation/client/Navigator.cpp
+++ b/source/armarx/navigation/client/Navigator.cpp
@@ -31,6 +31,12 @@ namespace armarx::navigation::client
srv.subscriber->onGlobalPlanningFailed(stopped_callback);
}
+ Navigator::~Navigator()
+ {
+ ARMARX_INFO << "Stopping navigation request (if any).";
+ stop();
+ }
+
void
Navigator::moveTo(const core::Pose& pose, core::NavigationFrame frame)
diff --git a/source/armarx/navigation/client/Navigator.h b/source/armarx/navigation/client/Navigator.h
index d116a1de..e50a8a3c 100644
--- a/source/armarx/navigation/client/Navigator.h
+++ b/source/armarx/navigation/client/Navigator.h
@@ -123,6 +123,7 @@ namespace armarx::navigation::client
};
Navigator(const InjectedServices& services);
+ ~Navigator();
void moveTo(const core::Pose& pose, core::NavigationFrame frame);
--
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