Added parameter actionsSentRejectedHyp (actions also sent on rejected hypotheses or decreasing hyp), default false

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@85 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Parameters.h

@@ -132,6 +132,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Rtabmap, LocalGraphCleaned, bool, false);	   // Clean the neighborhood of the retrieved id
 	RTABMAP_PARAM(Rtabmap, MaxRetrieved,       unsigned int, 2); // Maximum locations retrieved at the same time from LTM
 	RTABMAP_PARAM(Rtabmap, ActionsByTime,       bool, true); // Select next actions based on the more recent neighbor of the current node, otherwise, weight is also used
+	RTABMAP_PARAM(Rtabmap, ActionsSentRejectHyp,  bool, false); // Actions sent also on rejected hypotheses (on decreasing hypotheses)
 
 	// Hypotheses selection
 	RTABMAP_PARAM(Rtabmap, LoopThr,    	     float, 0.10); // Loop closing threshold

corelib/include/rtabmap/core/Rtabmap.h

@@ -134,6 +134,7 @@ private:
 	bool _localGraphCleaned;
 	unsigned int _maxRetrieved;
 	bool _actionsByTime;
+	bool _actionsSentRejectHyp;
 
 	int _lcHypothesisId;
 	int _reactivateId;

corelib/src/Rtabmap.cpp

@@ -64,6 +64,7 @@ Rtabmap::Rtabmap() :
 	_localGraphCleaned(Parameters::defaultRtabmapLocalGraphCleaned()),
 	_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
 	_actionsByTime(Parameters::defaultRtabmapActionsByTime()),
+	_actionsSentRejectHyp(Parameters::defaultRtabmapActionsSentRejectHyp()),
 	_lcHypothesisId(0),
 	_reactivateId(0),
 	_highestHypothesisValue(0),
@@ -269,7 +270,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
 	{
 		_actionsByTime = uStr2Bool(iter->second.c_str());
 	}
-
+	if((iter=parameters.find(Parameters::kRtabmapActionsSentRejectHyp())) != parameters.end())
+	{
+		_actionsSentRejectHyp = uStr2Bool(iter->second.c_str());
+	}
 
 	// By default, we create our strategies if they are not already created.
 	// If they already exists, we check the parameters if a change is requested
@@ -952,7 +956,8 @@ void Rtabmap::process()
 		sLoop = _memory->getSignature(highestHypothesisId);
 	}
 
-	if(sLoop)
+	// only send actions if rejectLoopReason!=3 (decreasing hypotheses)
+	if(sLoop && (_actionsSentRejectHyp || rejectLoopReason != 3))
 	{
 		// select the actions of the neighbor with the highest
 		// weight (select the more recent if some have the same weight)

guilib/src/PreferencesDialog.cpp

@@ -111,6 +111,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->general_spinBox_minMemorySizeForLoopDetection->setObjectName(Parameters::kRtabmapMinMemorySizeForLoopDetection().c_str());
 	_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
 	_ui->general_checkBox_actionsByTime->setObjectName(Parameters::kRtabmapActionsByTime().c_str());
+	_ui->general_checkBox_actionsSentRejectHyp->setObjectName(Parameters::kRtabmapActionsSentRejectHyp().c_str());
 	_ui->lineEdit_workingDirectory->setObjectName(Parameters::kRtabmapWorkingDirectory().c_str());
 	connect(_ui->toolButton_workingDirectory, SIGNAL(clicked()), this, SLOT(changeWorkingDirectory()));
 

guilib/src/ui/preferencesDialog.ui

@@ -913,21 +913,21 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
                 </property>
                </widget>
               </item>
-              <item row="8" column="0">
+              <item row="9" column="0">
                <widget class="QLineEdit" name="lineEdit_workingDirectory">
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
-              <item row="8" column="2">
+              <item row="9" column="2">
                <widget class="QLabel" name="label_87">
                 <property name="text">
                  <string>Working directory (where the database is saved/loaded)</string>
                 </property>
                </widget>
               </item>
-              <item row="8" column="1">
+              <item row="9" column="1">
                <widget class="QToolButton" name="toolButton_workingDirectory">
                 <property name="text">
                  <string>...</string>
@@ -977,6 +977,26 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
                 </property>
                </widget>
               </item>
+              <item row="8" column="0">
+               <widget class="QCheckBox" name="general_checkBox_actionsSentRejectHyp">
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="checked">
+                 <bool>false</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="2">
+               <widget class="QLabel" name="label_40">
+                <property name="text">
+                 <string>Actions sent also on rejected hypotheses (on decreasing hypotheses)</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
              </layout>
             </widget>
            </item>
@@ -1073,8 +1093,8 @@ We can edit how will like the prediction used in the Bayes filter when there is
                     <rect>
                      <x>0</x>
                      <y>0</y>
-                     <width>524</width>
-                     <height>138</height>
+                     <width>26</width>
+                     <height>78</height>
                     </rect>
                    </property>
                    <layout class="QHBoxLayout" name="horizontalLayout_2">