From d49c8f8ecd55f3976a6f829ddb9457ebbd0bcafe Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Tue, 7 Jun 2016 12:09:48 +0200
Subject: [PATCH] filtered saliency maps by time
---
.../ViewSelection/ViewSelection.cpp | 24 +++++++++++++++++++
1 file changed, 24 insertions(+)
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
index 34c80fd1f..4ee7ad2dd 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
@@ -140,6 +140,30 @@ void ViewSelection::onExitComponent()
ViewTargetBasePtr ViewSelection::nextAutomaticViewTarget()
{
+ IceUtil::Time currentTime = armarx::TimeUtil::GetTime();
+ std::vector<std::string> activeSaliencyMaps;
+ for (const auto & p : saliencyMaps)
+ {
+ if (p.second->validUntil)
+ {
+ TimestampVariantPtr time = TimestampVariantPtr::dynamicCast(p.second->validUntil);
+ if (time->toTime() > currentTime)
+ {
+ activeSaliencyMaps.push_back(p.second->name);
+ }
+ }
+ else
+ {
+ activeSaliencyMaps.push_back(p.second->name);
+ }
+
+ }
+
+ if (activeSaliencyMaps.empty())
+ {
+ return nullptr;
+ }
+
SharedRobotInterfacePrx robotPrx = robotStateComponent->getSynchronizedRobot();
TNodeList* visibilityMaskGraphNodes = visibilityMaskGraph->getNodes();
--
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