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DbViewer: Updated add constraint order (from=old, to=newer)

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matlabbe
2020-04-08 18:52:38 -04:00
parent 7e8e80db2c
commit 82a19a2ff1
1 changed files with 5 additions and 1 deletions
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6
guilib/src/DatabaseViewer.cpp
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@@ -7088,7 +7088,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
if(from == to)
{
UWARN("Cannot add link to same node");
return false;
return false;
}
else if(from > to)
{
@@ -7398,6 +7398,10 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
//simply remove from linksRemoved
linksRemoved_.erase(rtabmap::graph::findLink(linksRemoved_, from, to));
}
else
{
if(newLink.from() < newLink.to())
{
newLink = newLink.inverse();
}
linksAdded_.insert(std::make_pair(newLink.from(), newLink));