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Planning update: remove virtual links up to current path index

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matlabbe
2015-05-11 15:48:27 -04:00
parent c0386be098
commit 04bd596705
3 changed files with 44 additions and 18 deletions
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corelib/src/Rtabmap.cpp
+9
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@@ -3131,6 +3131,15 @@ void Rtabmap::updateGoalIndex()
if( _memory && _path.size())
{
// remove all previous virtual links
for(unsigned int i=0; i<_pathCurrentIndex && i<_path.size(); ++i)
{
if(_memory->getSignature(_path[i].first))
{
_memory->removeVirtualLinks(_path[i].first);
}
}
// Make sure the next signatures on the path are linked together
float distanceSoFar = 0.0f;
for(unsigned int i=_pathCurrentIndex;