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updated how weight is updated when moving

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Mathieu Labbe
2015-05-03 20:03:53 -04:00
parent d7030e0e38
commit b23d9808bf
1 changed files with 4 additions and 5 deletions
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9
corelib/src/Memory.cpp
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@@ -2906,11 +2906,10 @@ void Memory::rehearsal(Signature * signature, Statistics * stats)
} }
else else
{ {
// if the robot has moved, increase only weight of the previous // if the robot has moved, increase only weight of the new one
// signature because they are not merged signature->setWeight(signature->getWeight()+1);
sB->setWeight(sB->getWeight()+1); 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 (new=%d) because the robot has moved. (d=%f a=%f)", signature->getWeight(), signature->id(), sB->id(), _rehearsalMaxDistance, _rehearsalMaxAngle);
sB->getWeight(), sB->id(), signature->id(), _rehearsalMaxDistance, _rehearsalMaxAngle);
} }
} }
else if(this->rehearsalMerge(id, signature->id())) else if(this->rehearsalMerge(id, signature->id()))