Merge pull request #4 from utexas-bwi/master

reset all integrators before starting read.
segwayrmp · Jan 17, 2013 · c7eb198 · c7eb198
2 parents d18fc66 + 1c4b7a5
commit c7eb198
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/src/segwayrmp.cc b/src/segwayrmp.cc
@@ -334,13 +334,14 @@ void SegwayRMP::connect(bool reset_integrators)
 
   this->connected_ = true;
 
-  // Kick off the read thread
-  this->StartReadingContinuously_();
-
   if (reset_integrators) {
     // Reset all the integrators
     this->resetAllIntegrators();
   }
+
+  // Kick off the read thread
+  this->StartReadingContinuously_();
+
 }
 
 void SegwayRMP::shutdown()