From 885f77e8d106ba0ec82bead8044d6ce080849303 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 14 Oct 2020 09:53:29 +0200
Subject: [PATCH] Fix output of detach
---
.../components/ObjectPoseObserver/ObjectPoseObserver.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
index 474423c07..a3850e5d2 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
@@ -453,8 +453,6 @@ namespace armarx
objpose::DetachObjectFromRobotNodeOutput ObjectPoseObserver::detachObjectFromRobotNode(
const objpose::DetachObjectFromRobotNodeInput& input, const Ice::Current&)
{
- objpose::DetachObjectFromRobotNodeOutput output;
-
ObjectID objectID = armarx::fromIce(input.objectID);
std::string providerName = input.providerName;
@@ -499,11 +497,12 @@ namespace armarx
}
}
+ objpose::DetachObjectFromRobotNodeOutput output;
+ output.wasAttached = bool(attachment);
if (attachment)
{
ARMARX_INFO << "Detached object " << objectID << " by provider '" << providerName << "' from robot node '"
<< attachment->frameName << "' of agent '" << attachment->agentName << "'.";
- output.wasAttached = true;
}
else
{
--
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