Commit dd34bc9 1 parent 8c508a4 commit dd34bc9 Copy full SHA for dd34bc9
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src/software/sensor_fusion
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lines changed Original file line number Diff line number Diff line change @@ -78,6 +78,7 @@ void SensorFusion::processSensorProto(const SensorProto &sensor_msg)
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}
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}
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+
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void SensorFusion::updateWorld (const SSLProto::SSL_WrapperPacket &packet)
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{
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if (packet.has_geometry ())
@@ -95,7 +96,15 @@ void SensorFusion::updateWorld(const SSLProto::SSL_WrapperPacket &packet)
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// Process the geometry again
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updateWorld (packet.geometry ());
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}
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+
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updateWorld (packet.detection ());
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+
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+ if (!ball && (packet.detection ().robots_blue ().size () != 0 ||
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+ packet.detection ().robots_yellow ().size () != 0 ))
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+ {
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+ LOG (WARNING)
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+ << " There are robots on the field, but no ball. It is highly likely that sensor fusion has filtered the ball out!" ;
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+ }
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}
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}
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