From 09ea02a021ea5e49920a132ffdf6f43e0bf7b437 Mon Sep 17 00:00:00 2001
From: SecondHandsIntegrationAccount <NotAvailable@secondhands.eu>
Date: Fri, 10 Jun 2016 15:12:01 +0200
Subject: [PATCH] fixed setting of global pose of robot in RobotStateComponent
---
source/RobotAPI/components/RobotState/RobotStateComponent.cpp | 4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index ebbc4f01a..891bcee55 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -193,13 +193,11 @@ namespace armarx
}
clone->setJointValues(config.jointMap);
- clone->setGlobalPose(FramedPosePtr::dynamicCast(config.globalPose)->toEigen());
SharedRobotServantPtr p = new SharedRobotServant(clone);
p->setTimestamp(IceUtil::Time::microSecondsDouble(time));
auto result = getObjectAdapter()->addWithUUID(p);
// virtal robot clone is buggy -> set global pose here
- p->setGlobalPose(new Pose(_synchronized->getGlobalPose()));
-
+ p->setGlobalPose(config.globalPose);
return SharedRobotInterfacePrx::uncheckedCast(result);
}
--
GitLab