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

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@85 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-08 20:19:37 +00:00
parent edf8bbb735
commit c59d461c81
5 changed files with 35 additions and 7 deletions
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9
corelib/src/Rtabmap.cpp
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@@ -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)