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Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio"

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Mathieu Labbe
2015-05-04 16:00:21 -04:00
parent 26305588da
commit cf5f998e06
9 changed files with 257 additions and 158 deletions
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guilib/src/DatabaseViewer.cpp
+1 -1
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@@ -808,7 +808,7 @@ void DatabaseViewer::updateIds()
{
//get constraints only for parent links
memory_->getMetricConstraints(std::vector<int>(ids.begin(), ids.end()), poses_, links_, true);
memory_->getMetricConstraints(ids, poses_, links_, true);
if(poses_.size())
{