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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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corelib/src/Memory.cpp
+5 -1
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@@ -1447,7 +1447,7 @@ std::list<int> Memory::forget(const std::set<int> & ignoredIds)
{
UDEBUG("");
std::list<int> signaturesRemoved;
if(_vwd->isIncremental() && _vwd->getVisualWords().size())
if(this->isIncremental() && _vwd->isIncremental() && _vwd->getVisualWords().size())
{
int newWords = 0;
int wordsRemoved = 0;
@@ -1513,6 +1513,10 @@ int Memory::cleanup()
}
signatureRemoved = _lastSignature->id();
moveToTrash(_lastSignature, _incrementalMemory);
if(_signaturesAdded>0)
{
--_signaturesAdded;
}
}
return signatureRemoved;