[PerceptionModule] use utility functions

sarthou · Aug 8, 2024 · ba71900 · ba71900
1 parent 42b78e8
commit ba71900
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Showing 3 changed files with 3 additions and 6 deletions.
diff --git a/src/Perception/Modules/HumansModules/HumansEmulatedPerceptionModule.cpp b/src/Perception/Modules/HumansModules/HumansEmulatedPerceptionModule.cpp
@@ -4,8 +4,7 @@ namespace owds {
 
   bool HumansEmulatedPerceptionModule::perceptionCallback(const std::vector<BodyPart*>& msg)
   {
-    for(auto& percept : percepts_)
-      percept.second.setUnseen();
+    setAllPerceptsUnseen();
 
     for(auto body_part : msg)
     {

diff --git a/src/Perception/Modules/ObjectsModules/FakeObjectPerceptionModule.cpp b/src/Perception/Modules/ObjectsModules/FakeObjectPerceptionModule.cpp
@@ -40,8 +40,7 @@ namespace owds {
 
   bool FakeObjectPerceptionModule::perceptionCallback(const overworld::EntitiesPoses& msg)
   {
-    for(auto& percept : percepts_)
-      percept.second.setUnseen();
+    setAllPerceptsUnseen();
 
     for(auto& obj : msg.entities)
     {

diff --git a/src/Perception/Modules/ObjectsModules/ObjectsEmulatedPerceptionModule.cpp b/src/Perception/Modules/ObjectsModules/ObjectsEmulatedPerceptionModule.cpp
@@ -4,8 +4,7 @@ namespace owds {
 
   bool ObjectsEmulatedPerceptionModule::perceptionCallback(const std::vector<Object*>& msg)
   {
-    for(auto& percept : percepts_)
-      percept.second.setUnseen();
+    setAllPerceptsUnseen();
 
     for(auto object : msg)
     {