fix destruction order

This commit is contained in:
Robert Haschke 2018-10-19 16:34:06 +02:00
parent 1a4f6c0e57
commit e9b16ba7c0

View File

@ -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;
}