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fixed #536

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matlabbe
2021-02-12 15:25:15 -05:00
parent e7567cc3b9
commit d4651d1fe0
1 changed files with 1 additions and 5 deletions
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src/CoreWrapper.cpp
+1 -5
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@@ -2102,11 +2102,7 @@ void CoreWrapper::process(
std::map<int, float> nodes = graph::findNearestNodes(filteredPoses, mapToOdom_*odom, maxMappingNodes_); std::map<int, float> nodes = graph::findNearestNodes(filteredPoses, mapToOdom_*odom, maxMappingNodes_);
for(std::map<int, float>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter) for(std::map<int, float>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
{ {
std::map<int, Transform>::iterator pter = filteredPoses.find(iter->first); nearestPoses.insert(*filteredPoses.find(iter->first));
if(pter != filteredPoses.end())
{
nearestPoses.insert(*pter);
}
} }
//add latest/zero and make sure those on a planned path are not filtered //add latest/zero and make sure those on a planned path are not filtered
std::set<int> onPath; std::set<int> onPath;