From d01fbecec1968382e9bc44679249486ad6592d95 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 7 Jun 2021 18:01:01 +0200
Subject: [PATCH] armem robot state memory: fixing robot state visu
---
.../common/localization/TransformHelper.cpp | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
index c8db83835..5a3a4a0d4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
@@ -284,14 +284,17 @@ namespace armarx::armem::common::robot_state::localization
std::vector<::armarx::armem::robot_state::Transform> transforms;
transforms.reserve(entity.history().size());
- const auto entitySnapshots = simox::alg::get_values(entity.history());
+ // const auto entitySnapshots = simox::alg::get_values(entity.history());
+
+ const std::vector<wm::EntitySnapshot> entitySnapshots = {entity.getLatestSnapshot()};
+
std::transform(
entitySnapshots.begin(),
entitySnapshots.end(),
std::back_inserter(transforms),
- [](const auto & entity)
+ [](const auto & entitySnapshot)
{
- return convertEntityToTransform(entity.getInstance(0));
+ return convertEntityToTransform(entitySnapshot.getInstance(0));
});
ARMARX_DEBUG << "obtaining transform";
--
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