From b713a801c8eec72885398227c91b216943f75840 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Mon, 12 Jul 2021 11:03:28 +0200
Subject: [PATCH] (RK) Minor: move code
---
.../armem_objects/server/instance/Decay.cpp | 19 +++++++++----------
1 file changed, 9 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
index 2d3942250..df3728fb3 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
@@ -26,22 +26,21 @@ namespace armarx::armem::server::obj::instance
void Decay::updateConfidence(objpose::ObjectPose& pose, IceUtil::Time now) const
{
- float confidence = calculateConfidence(pose.timestamp, now);
- pose.confidence = confidence;
+ if (pose.attachment or pose.isStatic)
+ {
+ pose.confidence = 1.0;
+ }
+ else
+ {
+ pose.confidence = calculateConfidence(pose.timestamp, now);
+ }
}
void Decay::updateConfidences(objpose::ObjectPoseSeq& objectPoses, IceUtil::Time now) const
{
for (objpose::ObjectPose& pose : objectPoses)
{
- if (pose.attachment or pose.isStatic)
- {
- pose.confidence = 1.0;
- }
- else
- {
- updateConfidence(pose, now);
- }
+ updateConfidence(pose, now);
}
}
--
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