Bugfix: KukaLLBRiiwaVrepPlugin moves arm in JAVA simulation again. Arm wouldn't move because kukaFRIThreadSeparatorP wasn't running.

ahundt · ahundt · commit 003b95e36dbb · 2015-07-29T01:09:43.000-04:00
diff --git a/include/grl/vrep/KukaLBRiiwaVrepPlugin.hpp b/include/grl/vrep/KukaLBRiiwaVrepPlugin.hpp
@@ -136,7 +136,9 @@ KukaVrepPlugin (Params params = defaultParams())
 {
 /// @todo figure out how to re-enable when .so isn't loaded
  // initHandles();
- if( boost::iequals(std::get<KukaCommandMode>(params_),std::string("FRI_ASYNC")))
+ if( boost::iequals(std::get<KukaCommandMode>(params_),std::string("FRI_ASYNC")) ||
+     boost::iequals(std::get<KukaCommandMode>(params_),std::string("JAVA"))
+ )
  {
      kukaFRIThreadSeparatorP.reset(
         new grl::KukaFRIThreadSeparator(

Original file line number	Diff line number	Diff line change
`@@ -136,7 +136,9 @@ KukaVrepPlugin (Params params = defaultParams())`
`136`	`136`	`{`
`137`	`137`	`/// @todo figure out how to re-enable when .so isn't loaded`
`138`	`138`	`// initHandles();`
`139`		`- if( boost::iequals(std::get<KukaCommandMode>(params_),std::string("FRI_ASYNC")))`
	`139`	`+ if( boost::iequals(std::get<KukaCommandMode>(params_),std::string("FRI_ASYNC")) \|\|`
	`140`	`+ boost::iequals(std::get<KukaCommandMode>(params_),std::string("JAVA"))`
	`141`	`+ )`
`140`	`142`	`{`
`141`	`143`	`kukaFRIThreadSeparatorP.reset(`
`142`	`144`	`new grl::KukaFRIThreadSeparator(`