From b7f8d70d9187f7e0d476372df0a63caa0a2d1882 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 29 Jun 2021 15:37:18 +0200
Subject: [PATCH] Set isStatic = true for objects loaded from snapshot
---
.../RobotAPI/libraries/armem_objects/server/instance/Segment.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 646c00401..125bdd946 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -849,6 +849,7 @@ namespace armarx::armem::server::obj::instance
pose.providerName = sceneName;
pose.objectType = objpose::ObjectTypeEnum::KnownObject;
+ pose.isStatic = true; // Objects loaded from prior knowledge are considerd static to exclude them from decay.
pose.objectID = classID.withInstanceName(std::to_string(idCounters[classID]++));
pose.objectPoseGlobal = simox::math::pose(object.position, object.orientation);
--
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