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Localization mode: fixed errors when planning, fixed localization from last node, fixed localization flickers when memory management is running

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matlabbe
2015-09-29 23:48:05 -04:00
parent 3fa6124ad0
commit fccaa11de1
3 changed files with 153 additions and 137 deletions
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2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -234,8 +234,8 @@ private:
std::map<int, Transform> _optimizedPoses;
std::multimap<int, Link> _constraints;
Transform _mapCorrection;
Transform _mapTransform; // for localization mode
Transform _lastLocalizationPose; // for localization mode
int _lastLocalizationNodeId; // for localization mode
// Planning stuff
int _pathStatus;