[HumansPerceptionManager] update human sensors

sarthou · Sep 14, 2024 · 52d5543 · 52d5543
1 parent c751369
commit 52d5543
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/src/Perception/Managers/HumansPerceptionManager.cpp b/src/Perception/Managers/HumansPerceptionManager.cpp
@@ -73,6 +73,15 @@ namespace owds {
               inner_it->second->updatePose(percept.second->pose(), percept.second->lastStamp());
           }
         }
+        else
+        {
+          auto sensors = agent->getSensors();
+          for(auto& eye : sensors)
+          {
+            if(percept.second->isLocated())
+              eye.second->updatePose(percept.second->pose(), percept.second->lastStamp());
+          }
+        }
       }
     }
   }