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fixed weighting while moving

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Mathieu Labbe
2015-05-03 21:00:18 -04:00
parent b23d9808bf
commit 26305588da
1 changed files with 2 additions and 1 deletions
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3
corelib/src/Memory.cpp
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@@ -2907,7 +2907,8 @@ void Memory::rehearsal(Signature * signature, Statistics * stats)
else else
{ {
// if the robot has moved, increase only weight of the new one // if the robot has moved, increase only weight of the new one
signature->setWeight(signature->getWeight()+1); signature->setWeight(sB->getWeight() + signature->getWeight() + 1);
sB->setWeight(0);
UINFO("Only updated weight to %d of %d (old=%d) because the robot has moved. (d=%f a=%f)", UINFO("Only updated weight to %d of %d (old=%d) because the robot has moved. (d=%f a=%f)",
signature->getWeight(), signature->id(), sB->id(), _rehearsalMaxDistance, _rehearsalMaxAngle); signature->getWeight(), signature->id(), sB->id(), _rehearsalMaxDistance, _rehearsalMaxAngle);
} }