i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed the adding of neighbor's actions when adding a loop closure link

Browse Source 
Fixed loading config file with the ros gui_node (switch between rosparam and a config file )

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@97 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-10 19:56:07 +00:00
parent b01f3191fa
commit 196dc01a57
5 changed files with 18 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+2 -3
View File
@@ -1056,8 +1056,7 @@ void Memory::addLoopClosureLink(int oldId, int newId, bool rehearsal)
bool newHasNeighbor = newS->hasNeighbor(i->first);
if(!newHasNeighbor)
{
//empty actions... they are not backward compatible
newS->addNeighbor(i->first, std::list<std::vector<float> >());
newS->addNeighbor(i->first, i->second);
}
if(neighbor)
{
@@ -1080,7 +1079,7 @@ void Memory::addLoopClosureLink(int oldId, int newId, bool rehearsal)
else if(_dbDriver)
{
ULOGGER_DEBUG("*i=%d not found in WM or STM, modifying it in database...", i->first);
_dbDriver->addNeighbor(i->first, newS->id(), i->second);
_dbDriver->addNeighbor(i->first, newS->id(), oldS->id());
}
}
}