robotology-playground / localize-superquadrics Goto Github PK

We would like to have this thrift service:

Vector localize_superq(1: string &object_names, 2: Bottle &points, 3: i32 object_num);

returning a Yarp Vector, defined in the idl.thrift as:

struct Vector
 {
 } (
    yarp.name = "yarp::sig::Vector"
    yarp.includefile="yarp/sig/Vector.h"
 )

However, the received value is not correct. In particular, the first two values of the received Bottle are not filled with the correct values.

Example

The Vector is correctly filled when sent. If we print the Vector just before the return statement, we can check that it is correctly filled.

The Bottle received is instead the following:

(6,2362767e-310, 6,2362767e-310, correct_value_2, correct_value_3, ...)

missing correct_value_0 and correct_value_1, independently from the dimension of the Vector.

Together with @drdanz, we investigated a little the problem. but we haven't found a solution yet.

To temporarly fix the bug, the thrift service returns a std::vector<double>.

Right now, the code is not building since the compiler doesn't know how to handle the name mutex (since it can be both the name of the global variable mutex of type yarp::os::Mutex or the class name for std::mutex)

Since yarp::os::Mutex are now deprecated, we should anyway switch to std::mutex.