fix error when shadowing setParameters method in specialized skills

source/RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h

@@ -63,7 +63,7 @@ namespace armarx
             {
                 SpecializedInitInput i;
                 i.executorName = this->executorName;
-                i.parameters = this->parameters;
+                i.parameters = this->getParameters();
                 return this->init(i);
             }
 
@@ -73,7 +73,7 @@ namespace armarx
                 SpecializedMainInput i;
                 i.executorName = this->executorName;
                 i.callback = this->callback;
-                i.parameters = this->parameters;
+                i.parameters = this->getParameters();
                 return this->main(i);
             }
 
@@ -82,7 +82,7 @@ namespace armarx
             {
                 SpecializedExitInput i;
                 i.executorName = this->executorName;
-                i.parameters = this->parameters;
+                i.parameters = this->getParameters();
                 return this->exit(i);
             }
         };

source/RobotAPI/libraries/skills/provider/SpecializedSkill.h

@@ -23,17 +23,16 @@ namespace armarx
             void
             setParameters(const AronT& d)
             {
-                std::scoped_lock l(this->parametersMutex);
-                this->parameters = d;
-
                 Base::setParameters(d.toAron());
             }
 
+            /// Overwrite getter for parameters. Shadow Skill::getParameters()
             AronT
             getParameters() const
             {
-                std::scoped_lock l(this->parametersMutex);
-                return this->parameters;
+                AronT d;
+                d.fromAron(this->parameters);
+                return d;
             }
 
             /// returns the accepted type of the skill
@@ -45,8 +44,6 @@ namespace armarx
 
 
         protected:
-            mutable std::mutex parametersMutex;
-            AronT parameters;
         };
     } // namespace skills
 } // namespace armarx