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Added warning when requesting a path before beeing localized

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matlabbe
2016-08-31 12:43:54 -04:00
parent 79b51311bc
commit 2fb71445da
1 changed files with 4 additions and 0 deletions
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corelib/src/Rtabmap.cpp
+4
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@@ -3487,6 +3487,10 @@ bool Rtabmap::computePath(int targetNode, bool global)
_path[oi++].second = t * iter->second; _path[oi++].second = t * iter->second;
} }
} }
else if(currentNode == 0)
{
UWARN("We should be localized before planning.");
}
} }
UINFO("Total planning time = %fs (%d nodes, %f m long)", totalTimer.ticks(), (int)_path.size(), graph::computePathLength(_path)); UINFO("Total planning time = %fs (%d nodes, %f m long)", totalTimer.ticks(), (int)_path.size(), graph::computePathLength(_path));