From 0fedfca996490a10c479e77f0c53f28892399acc Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 19 Feb 2021 18:45:58 +0100
Subject: [PATCH] Fix function name, add start
---
.../ObjectPoseObserver/ObjectPoseObserver.cpp | 12 ++++++++----
.../ObjectPoseObserver/ObjectPoseObserver.h | 2 +-
2 files changed, 9 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
index 069df7e68..634600034 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
@@ -98,10 +98,14 @@ namespace armarx
robotHead.debugObserver = debugObserver;
robotHead.fetchDatafields();
- decay.updateTask = new SimpleRunningTask([this]()
+ if (!decay.updateTask)
{
- this->decayUpdateRun();
- });
+ decay.updateTask = new SimpleRunningTask<>([this]()
+ {
+ this->decayUpdateRun();
+ });
+ decay.updateTask->start();
+ }
createRemoteGuiTab();
RemoteGui_startRunningTask();
@@ -746,7 +750,7 @@ namespace armarx
}
}
- void ObjectPoseObserver::updateDecayRun()
+ void ObjectPoseObserver::decayUpdateRun()
{
CycleUtil cycle(static_cast<int>(1000 / decay.updateFrequencyHz));
while (decay.updateTask && !decay.updateTask->isStopped())
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
index 2db380bf1..6f4cb8a0c 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h
@@ -150,7 +150,7 @@ namespace armarx
void toIceWithAttachments(objpose::ObjectPoseSeq& objectPoses, VirtualRobot::RobotPtr agent,
objpose::data::ObjectPoseSeq& result, bool& synchronized);
- void updateDecayRun();
+ void decayUpdateRun();
private:
--
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