From da1805d7326ee831481bee84bdb7353828c0ac25 Mon Sep 17 00:00:00 2001
From: Florian Polster <fpolster@uni-koblenz.de>
Date: Mon, 6 Mar 2017 13:42:21 +0100
Subject: [PATCH] do map update at max all 0.2 sec not automatically all 0.2
sec
---
homer_mapping/src/ParticleFilter/SlamFilter.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/homer_mapping/src/ParticleFilter/SlamFilter.cpp b/homer_mapping/src/ParticleFilter/SlamFilter.cpp
index 2f6508c3..3cb7f8d9 100644
--- a/homer_mapping/src/ParticleFilter/SlamFilter.cpp
+++ b/homer_mapping/src/ParticleFilter/SlamFilter.cpp
@@ -339,8 +339,8 @@ void SlamFilter::filter(Pose currentPose,
<< " dist=" << transSinceLastUpdate.magnitude() << "m" << endl;
bool update =
- (std::fabs(transSinceLastUpdate.theta()) > m_UpdateMinMoveAngle) ||
- (transSinceLastUpdate.magnitude() > m_UpdateMinMoveDistance) ||
+ ((std::fabs(transSinceLastUpdate.theta()) > m_UpdateMinMoveAngle) ||
+ (transSinceLastUpdate.magnitude() > m_UpdateMinMoveDistance)) &&
((measurementTime - m_LastUpdateTime) > m_MaxUpdateInterval);
if (m_DoMapping && update) {
--
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