Revision: 7125
http://playerstage.svn.sourceforge.net/playerstage/?rev=7125&view=rev
Author: gerkey
Date: 2008-11-04 08:46:50 +0000 (Tue, 04 Nov 2008)
Log Message:
-----------
Removed busy loop at startup of amcl
Modified Paths:
--------------
code/player/trunk/server/drivers/localization/amcl/amcl.cc
code/player/trunk/server/drivers/localization/amcl/amcl.h
Modified: code/player/trunk/server/drivers/localization/amcl/amcl.cc
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/amcl.cc 2008-11-01
01:02:17 UTC (rev 7124)
+++ code/player/trunk/server/drivers/localization/amcl/amcl.cc 2008-11-04
08:46:50 UTC (rev 7125)
@@ -663,6 +663,8 @@
// filter has not yet been initialized
this->pf_init = false;
+ this->pf_init_internal = false;
+
// Initial hypothesis list
this->hyp_count = 0;
@@ -711,8 +713,11 @@
#endif
// Initialize the filter if we havent already done so
- if (!this->pf_init)
+ if (!this->pf_init && !this->pf_init_internal)
+ {
this->InitFilter();
+ this->pf_init_internal = true;
+ }
// Update the filter
if (this->UpdateFilter())
@@ -1128,6 +1133,7 @@
this->pf_init_pose_mean = pose;
this->pf_init_pose_cov = cov;
this->pf_init = false;
+ this->pf_init_internal = false;
// Send an ACK
this->Publish(this->localize_addr, resp_queue,
Modified: code/player/trunk/server/drivers/localization/amcl/amcl.h
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/amcl.h 2008-11-01
01:02:17 UTC (rev 7124)
+++ code/player/trunk/server/drivers/localization/amcl/amcl.h 2008-11-04
08:46:50 UTC (rev 7125)
@@ -181,6 +181,7 @@
// Has the filter been initialized?
private: bool pf_init;
+ private: bool pf_init_internal;
// Initial pose estimate; used for filter initialization
private: pf_vector_t pf_init_pose_mean;
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