the actions were miss placed

NunoDuarte · May 15, 2018 · deab259 · deab259
1 parent 8cad4c2
commit deab259
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/icub_pupil.cpp b/src/icub_pupil.cpp
@@ -482,17 +482,19 @@ class ControlThread: public RateThread
 
         // call the predictor function
         action = predictAL(act_probability, state, action);
+        yInfo() << act_probability.at<double>(0,0);
+        yInfo() << act_probability.at<double>(1,0);
 
         // make a decision based on the predictor's response
-        if (action == 1){
+        if (action == 0){
             // get current location
             iarm->getPose(p,o);
             // get current velocities
             iarm->getTaskVelocities(vcur, wcur);
 
             reachArmGiving(p, o, xf, vcur);
 
-        } else if (action == 0) {
+        } else if (action == 1) {
             // just observe the action
             yInfo() << "I'm observing";