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Fixed localization bug when virtual links are added

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matlabbe
2016-05-26 17:28:06 -04:00
parent 0fa41d317a
commit be13a9b967
3 changed files with 45 additions and 5 deletions
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corelib/src/Graph.cpp
+30
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@@ -561,6 +561,36 @@ std::multimap<int, int>::const_iterator findLink(
return links.end();
}
std::multimap<int, Link> filterLinks(
const std::multimap<int, Link> & links,
Link::Type filteredType)
{
std::multimap<int, Link> output;
for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() != filteredType)
{
output.insert(*iter);
}
}
return output;
}
std::map<int, Link> filterLinks(
const std::map<int, Link> & links,
Link::Type filteredType)
{
std::map<int, Link> output;
for(std::map<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() != filteredType)
{
output.insert(*iter);
}
}
return output;
}
std::map<int, Transform> frustumPosesFiltering(
const std::map<int, Transform> & poses,
const Transform & cameraPose,