manip private attr

roboticslab-uc3m · Sep 8, 2023 · 5f98908 · 5f98908
1 parent 3d77b20
commit 5f98908
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/libraries/OpenravePlugins/OpenraveYarpIroning/OpenraveYarpIroning.cpp b/libraries/OpenravePlugins/OpenraveYarpIroning/OpenraveYarpIroning.cpp
@@ -133,9 +133,9 @@ class OpenraveYarpIroning : public OpenRAVE::ModuleBase,
         OpenRAVE::RobotBasePtr probot = robots[0];
         yCInfo(ORYPS) << "Robot 0: " << probot->GetName(); // default: teo
         probot->SetActiveManipulator("rightArm");
-        OpenRAVE::RobotBase::ManipulatorPtr pRobotManip = probot->GetManipulator("rightArm");
+        _pRobotManip = probot->GetManipulator("rightArm");
 
-        OpenRAVE::Transform ee = pRobotManip->GetEndEffector()->GetTransform();
+        OpenRAVE::Transform ee = _pRobotManip->GetEndEffector()->GetTransform();
         OpenRAVE::Transform tool;
         //tool.trans = Vector(0.0,0.0,1.3);
         tool.rot = OpenRAVE::geometry::quatFromAxisAngle(OpenRAVE::Vector(0,0,0)); //-- Converts an axis-angle rotation into a quaternion.
@@ -324,6 +324,7 @@ class OpenraveYarpIroning : public OpenRAVE::ModuleBase,
 
     OpenRAVE::EnvironmentBasePtr _penv;
     std::vector<OpenRAVE::KinBodyPtr> _objKinBodyPtrs;
+    OpenRAVE::RobotBase::ManipulatorPtr _pRobotManip;
 
     OpenRAVE::Transform T_base_object;
     OpenRAVE::KinBodyPtr _objPtr;