From 8cf271c7ca2313a292cd6a0728dab9332555e0c5 Mon Sep 17 00:00:00 2001
From: phfriedl <phfriedl@student.ethz.ch>
Date: Tue, 23 May 2017 16:05:57 +0200
Subject: [PATCH] Change to ViconPublisher: not publishing if occluded
---
pps_ws/src/d_fall_pps/param/Crazyflie.db | 4 ++--
pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp | 3 +--
2 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index f4e9b14b..b25c5926 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1,2 +1,2 @@
-3,cfTwo,0/69/2M,0,0,0,1,1,1
-5,cfFour,0/99/2M,-1,0,0,0,1,1
+3,cfTwo,0/69/2M,-2,-2,0,2,2,2
+5,cfThree,0/72/2M,-2,-2,0,2,2,2
diff --git a/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp b/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
index d8c07a89..7bc47110 100755
--- a/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
+++ b/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
@@ -216,8 +216,7 @@ int main(int argc, char* argv[]) {
cfData.pitch = pitch;
cfData.yaw = yaw;
cfData.acquiringTime = totalViconLatency;
-
- viconData.crazyflies.push_back(cfData);
+ if(!outputTranslation.Occluded) viconData.crazyflies.push_back(cfData);
}
viconDataPublisher.publish(viconData);
}
--
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