Manual reset of the kinematics loader implementation shared pointer to avoid bug #592

Alain Sanguinetti · Alain Sanguinetti · commit 383a8954f0d4 · 2016-07-06T11:04:07.000+08:00
diff --git a/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
@@ -76,6 +76,14 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
     }
   }
 
+  /**
+   * \brief Explicit destructor to avoid bugs in unloading the library
+   */
+  ~KinematicsLoaderImpl( )
+  {
+      kinematics_loader_.reset(); // we delete it manually
+  }
+
   /**
    * \brief Helper function to decide which, and how many, tip frames a planning group has
    * \param jmg - joint model group pointer

Original file line number	Diff line number	Diff line change
`@@ -76,6 +76,14 @@ class KinematicsPluginLoader::KinematicsLoaderImpl`
`76`	`76`	`}`
`77`	`77`	`}`
`78`	`78`
	`79`	`+ /**`
	`80`	`+ * \brief Explicit destructor to avoid bugs in unloading the library`
	`81`	`+ */`
	`82`	`+ ~KinematicsLoaderImpl( )`
	`83`	`+ {`
	`84`	`+ kinematics_loader_.reset(); // we delete it manually`
	`85`	`+ }`
	`86`	`+`
`79`	`87`	`/**`
`80`	`88`	`* \brief Helper function to decide which, and how many, tip frames a planning group has`
`81`	`89`	`* \param jmg - joint model group pointer`