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Merge pull request iris-ua#25 from jcmonteiro/bugfix/global-localizat…
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…ion-infinite-loop

Fix infinite loop when performing global localization
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eupedrosa authored Nov 19, 2020

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2 parents 8da0075 + a52cfcb commit 2e66515
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1 change: 1 addition & 0 deletions src/loc2d.cpp
Original file line number Diff line number Diff line change
@@ -161,6 +161,7 @@ void lama::Loc2D::globalLocalization(const PointCloudXYZ::Ptr& surface)
continue;

a = random::uniform() * 2 * M_PI - M_PI;
break;
}

Pose2D p(x, y , a);

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