From ed258ac043082ecba26444f1bbd1724c7fa97ead Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Thu, 9 Jul 2015 22:34:17 +0200
Subject: [PATCH] fixed scoped locks
---
.../components/units/KinematicUnitSimulation.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
index 519eec8b6..bd85de32f 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
@@ -56,7 +56,7 @@ void KinematicUnitSimulation::onInitKinematicUnit()
{
// duplicate the loop because of locking
- boost::mutex::scoped_lock(jointStatesMutex);
+ boost::mutex::scoped_lock lock(jointStatesMutex);
// initialize JoinStates
for (std::vector<VirtualRobot::RobotNodePtr>::iterator it = robotNodes.begin(); it != robotNodes.end(); it++)
{
@@ -98,7 +98,7 @@ void KinematicUnitSimulation::simulationFunction()
bool aVelValueChanged = false;
{
- boost::mutex::scoped_lock(jointStatesMutex);
+ boost::mutex::scoped_lock lock(jointStatesMutex);
for ( JointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
{
@@ -160,7 +160,7 @@ void KinematicUnitSimulation::switchControlMode(const NameControlModeMap& target
bool aValueChanged = false;
NameControlModeMap changedControlModes;
{
- boost::mutex::scoped_lock(jointStatesMutex);
+ boost::mutex::scoped_lock lock(jointStatesMutex);
for ( NameControlModeMap::const_iterator it = targetJointModes.begin(); it!=targetJointModes.end(); it++ )
{
// target values
@@ -189,7 +189,7 @@ void KinematicUnitSimulation::switchControlMode(const NameControlModeMap& target
void KinematicUnitSimulation::setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c)
{
- boost::mutex::scoped_lock(jointStatesMutex);
+ boost::mutex::scoped_lock lock(jointStatesMutex);
// name value maps for reporting
NameValueMap actualJointAngles;
bool aValueChanged = false;
@@ -222,7 +222,7 @@ void KinematicUnitSimulation::setJointAngles(const NameValueMap& targetJointAngl
void KinematicUnitSimulation::setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c)
{
- boost::mutex::scoped_lock(jointStatesMutex);
+ boost::mutex::scoped_lock lock(jointStatesMutex);
NameValueMap actualJointVelocities;
bool aValueChanged = false;
for ( NameValueMap::const_iterator it = targetJointVelocities.begin(); it!=targetJointVelocities.end(); it++ )
@@ -247,7 +247,7 @@ void KinematicUnitSimulation::setJointVelocities(const NameValueMap& targetJoint
void KinematicUnitSimulation::setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c)
{
- boost::mutex::scoped_lock(jointStatesMutex);
+ boost::mutex::scoped_lock lock(jointStatesMutex);
NameValueMap actualJointTorques;
bool aValueChanged = false;
for ( NameValueMap::const_iterator it = targetJointTorques.begin(); it!=targetJointTorques.end(); it++ )
@@ -281,7 +281,7 @@ void KinematicUnitSimulation::setJointDecelerations(const NameValueMap& targetJo
void KinematicUnitSimulation::stop(const Ice::Current &c)
{
- boost::mutex::scoped_lock(jointStatesMutex);
+ boost::mutex::scoped_lock lock(jointStatesMutex);
for ( JointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
{
it->second.velocity = 0;
--
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