Revision 513
fixed memory leak in vision code
| PositionMonitor.cpp | ||
|---|---|---|
| 36 | 36 |
} |
| 37 | 37 |
} |
| 38 | 38 |
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| 39 |
int PositionMonitor::stopMonitoring() {
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//TODO: fill this in when this becomes asynchronous |
|
| 41 |
return 0; |
|
| 42 |
} |
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| 43 |
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| 44 | 39 |
int PositionMonitor::updatePositions() {
|
| 45 | 40 |
VisionPosition * positions = NULL; |
| 46 | 41 |
|
| ... | ... | |
| 126 | 121 |
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| 127 | 122 |
int PositionMonitor::getRobotPosition(int robot_id, int* xbuf, int* ybuf) {
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| 128 | 123 |
//TODO: figure out what a map returns if the element doesn't exist |
| 129 |
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| 130 | 125 |
pthread_mutex_lock(&position_map_lock); |
| 131 | 126 |
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| 132 |
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| 133 | 127 |
if (positionMap.find(robot_id) == positionMap.end()){
|
| 134 | 128 |
return -1; |
| 135 | 129 |
} |
| ... | ... | |
| 147 | 141 |
bool PositionMonitor::isProbablySameRobot(VisionPosition p1, VisionPosition p2) {
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| 148 | 142 |
int xDiff = p1.x - p2.x; |
| 149 | 143 |
int yDiff = p1.y - p2.y; |
| 150 |
return (xDiff*xDiff + yDiff*yDiff < MAX_DISTANCE*MAX_DISTANCE);
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return (xDiff*xDiff + yDiff*yDiff < SAME_ROBOT_DISTANCE_THRESHOLD*SAME_ROBOT_DISTANCE_THRESHOLD);
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| 151 | 145 |
} |
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