diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp index 9c46175607dfd0b7288cbce35d9b887572747be7..53a516e7beeeb7119ed6bc04991e58ed9eaa23ff 100644 --- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp +++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp @@ -1277,7 +1277,7 @@ void KinematicUnitWidgetController::highlightCriticalValues() // check robot current value of nodes for (unsigned int i = 0; i < rn.size(); i++) { - bool isZero = true; + bool isStatic = true; float smoothedValue = 0; for (auto historyIt = jointCurrentHistory.begin(); historyIt != jointCurrentHistory.end(); historyIt++) @@ -1294,9 +1294,9 @@ void KinematicUnitWidgetController::highlightCriticalValues() smoothedValue = 0.5f * currentValue + 0.5f * smoothedValue; - if (currentValue != 0) + if (currentValue != jointCurrentHistory.begin()->second.find(rn[i]->getName())->second) { - isZero = false; + isStatic = false; } } @@ -1304,7 +1304,7 @@ void KinematicUnitWidgetController::highlightCriticalValues() it = reportedJointStatuses.find(rn[i]->getName()); JointStatus currentStatus = it->second; - if (isZero) + if (isStatic) { if (currentStatus.operation != eOffline) {