From e9b16ba7c07cb401e7d8f3115e82d027148dd0ff Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 19 Oct 2018 16:34:06 +0200 Subject: [PATCH] fix destruction order --- core/src/task.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/core/src/task.cpp b/core/src/task.cpp index bcfe7937..d0450da6 100644 --- a/core/src/task.cpp +++ b/core/src/task.cpp @@ -99,12 +99,15 @@ Task::createPlanner(const robot_model::RobotModelConstPtr& model, const std::str Task::~Task() { - reset(); + clear(); // remove all stages + robot_model_.reset(); + // only destroy loader after all references to the model are gone! + robot_model_loader_.reset(); } void Task::setRobotModel(const core::RobotModelConstPtr& robot_model) { - reset(); + reset(); // solutions, scenes, etc become invalid robot_model_ = robot_model; }