vtd: Set actuation after sensor update

tobifalk · cassava · commit 42a5ec9d8462 · 2023-03-14T11:58:49.000+01:00
diff --git a/optional/vtd/src/vtd_binding.cpp b/optional/vtd/src/vtd_binding.cpp
@@ -393,11 +393,6 @@ class VtdBinding : public cloe::Simulator {
       return sync.time() - sync.step_width();
     }
 
-    // Send items to TaskControl:
-    for (auto v : vehicles_) {
-      v->vtd_step_actuator(*scp_client_, config_.label_vehicle);
-    }
-
     // Process task control messages
     {
       timer::DurationTimer<timer::Milliseconds> t([this](timer::Milliseconds d) {
@@ -417,6 +412,11 @@ class VtdBinding : public cloe::Simulator {
       }
     }
 
+    // Send items to TaskControl:
+    for (auto v : vehicles_) {
+      v->vtd_step_actuator(*scp_client_, config_.label_vehicle);
+    }
+
     // Trigger VTD to simulation the next step
     {
       timer::DurationTimer<timer::Milliseconds> t(

Original file line number	Diff line number	Diff line change
`@@ -393,11 +393,6 @@ class VtdBinding : public cloe::Simulator {`
`393`	`393`	`return sync.time() - sync.step_width();`
`394`	`394`	`}`
`395`	`395`
`396`		`- // Send items to TaskControl:`
`397`		`- for (auto v : vehicles_) {`
`398`		`- v->vtd_step_actuator(*scp_client_, config_.label_vehicle);`
`399`		`- }`
`400`		`-`
`401`	`396`	`// Process task control messages`
`402`	`397`	`{`
`403`	`398`	`timer::DurationTimer<timer::Milliseconds> t([this](timer::Milliseconds d) {`
`@@ -417,6 +412,11 @@ class VtdBinding : public cloe::Simulator {`
`417`	`412`	`}`
`418`	`413`	`}`
`419`	`414`
	`415`	`+ // Send items to TaskControl:`
	`416`	`+ for (auto v : vehicles_) {`
	`417`	`+ v->vtd_step_actuator(*scp_client_, config_.label_vehicle);`
	`418`	`+ }`
	`419`	`+`
`420`	`420`	`// Trigger VTD to simulation the next step`
`421`	`421`	`{`
`422`	`422`	`timer::DurationTimer<timer::Milliseconds> t(`