Robot State Component: getLocalRobot: added performInitialRobotSync = true,...

Robot State Component: getLocalRobot: added performInitialRobotSync = true, that syncs the robot initially

data/RobotAPI/VariantInfo-RobotAPI.xml

@@ -190,7 +190,11 @@
             <onConnect>remoteRobot.reset(new RemoteRobot(robotStateComponent-&gt;getSynchronizedRobot()));</onConnect>
             <stateMethod header="const VirtualRobot::RobotPtr getRobot() const">return %getContext%-&gt;getRobot();</stateMethod>
 
-            <method header="const VirtualRobot::RobotPtr getLocalRobot() const">return robotPoolStructure->getRobot();</method>
+            <method header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">VirtualRobot::RobotPtr robot = robotPoolStructure->getRobot();
+                if(performInitialRobotSync) {
+                    ::armarx::RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
+                }
+                return robot;</method>
             <method header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return robotPoolCollision->getRobot();</method>
             <method header="const RobotNameHelperPtr getRobotNameHelper() const">return robotNameHelper;</method>
             <member>VirtualRobot::RobotPtr localRobot;</member>
@@ -204,7 +208,7 @@
             <onConnect>localCollisionRobot = RemoteRobot::createLocalCloneFromFile(robotStateComponent, VirtualRobot::RobotIO::eCollisionModel);</onConnect>
             <onConnect>robotPoolCollision.reset(new RobotPool(localCollisionRobot,2));</onConnect>
             <onConnect>robotNameHelper = RobotNameHelper::Create(robotStateComponent->getRobotInfo(), getSelectedStatechartProfile());</onConnect>
-            <stateMethod header="const VirtualRobot::RobotPtr getLocalRobot() const">return %getContext%-&gt;getLocalRobot();</stateMethod>
+            <stateMethod header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">return %getContext%-&gt;getLocalRobot(performInitialRobotSync);</stateMethod>
             <stateMethod header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return %getContext%-&gt;getLocalCollisionRobot();</stateMethod>
             <stateMethod header="const RobotNameHelperPtr getRobotNameHelper() const">return %getContext%-&gt;getRobotNameHelper();</stateMethod>