From 930012265b235e4d3194db91bc58355e529a6d2f Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Mon, 25 Nov 2019 14:28:37 +0900
Subject: [PATCH] [RemoveForceSensorLinkOffset] Enable to load offset params on
 initialization

---
 .../RemoveForceSensorLinkOffset.cpp                          | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/rtc/RemoveForceSensorLinkOffset/RemoveForceSensorLinkOffset.cpp b/rtc/RemoveForceSensorLinkOffset/RemoveForceSensorLinkOffset.cpp
index 2675d2d764a..c3dd8d84ae9 100644
--- a/rtc/RemoveForceSensorLinkOffset/RemoveForceSensorLinkOffset.cpp
+++ b/rtc/RemoveForceSensorLinkOffset/RemoveForceSensorLinkOffset.cpp
@@ -115,6 +115,11 @@ RTC::ReturnCode_t RemoveForceSensorLinkOffset::onInitialize()
     m_forcemoment_offset_param.insert(std::pair<std::string, ForceMomentOffsetParam>(s->name, ForceMomentOffsetParam()));
   }
   max_sensor_offset_calib_counter = static_cast<int>(8.0/m_dt); // 8.0[s] by default
+
+  if (prop["forcemoment_offset_params"] != "") {
+    loadForceMomentOffsetParams(prop["forcemoment_offset_params"]);
+  }
+
   return RTC::RTC_OK;
 }