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rtabmap: deleteLastLocation now delete the location instead of saving it in database

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@831 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-02-17 22:27:31 +00:00
parent 2545e29e36
commit 3d05294663
2 changed files with 6 additions and 5 deletions
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2
corelib/include/rtabmap/core/Memory.h
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@@ -130,7 +130,7 @@ protected:
void preUpdate();
void addSignatureToStm(Signature * signature);
void clear();
void moveToTrash(Signature * s);
void moveToTrash(Signature * s, bool saveToDatabase = true);
void addSignatureToWm(Signature * signature);
Signature * _getSignature(int id) const;

9
corelib/src/Memory.cpp
View File

@@ -1336,7 +1336,7 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
return removableSignatures;
}
void Memory::moveToTrash(Signature * s)
void Memory::moveToTrash(Signature * s, bool saveToDatabase)
{
UINFO("id=%d", s?s->id():0);
if(s)
@@ -1369,7 +1369,8 @@ void Memory::moveToTrash(Signature * s)
s->removeNeighbors();
}
if( _dbDriver &&
if( saveToDatabase &&
_dbDriver &&
s->id()>0)
{
_dbDriver->asyncSave(s);
@@ -1390,7 +1391,7 @@ const Signature * Memory::getLastSignature() const
void Memory::deleteLastLocation()
{
Signature * lastSignature = _lastSignature;
if(_lastSignature)
if(lastSignature)
{
UDEBUG("deleting last location %d", lastSignature->id());
const std::set<int> & neighbors = lastSignature->getNeighbors();
@@ -1416,7 +1417,7 @@ void Memory::deleteLastLocation()
}
lastSignature->setWeight(0);
this->moveToTrash(lastSignature);
this->moveToTrash(lastSignature, false);
}
}