From b686cd4389f95e0f4c49812eeee75864a7c30174 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 14 May 2021 13:41:28 +0200
Subject: [PATCH] fix
---
.../libraries/armem_robot_state/client/common/RobotReader.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index ec61aff0c..6a635e516 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -172,7 +172,7 @@ namespace armarx::armem::robot_state
.coreSegments().withName(properties.proprioceptionCoreSegment)
.providerSegments().withName(description.name) // agent
.entities().all() // TODO
- .snapshots().atTime(timestamp);
+ .snapshots().beforeTime(timestamp);
// clang-format on
const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
@@ -189,7 +189,7 @@ namespace armarx::armem::robot_state
std::optional<robot::RobotState::Pose> RobotReader::queryGlobalPose(const robot::RobotDescription& description, const armem::Time& timestamp) const
{
- const auto result = transformReader.getGlobalPose(description.name, "root", timestamp.toMicroSeconds());
+ const auto result = transformReader.getGlobalPose(description.name, "root", timestamp);
if (not result)
{
return std::nullopt;
--
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