diff --git a/src/icub_pupil.cpp b/src/icub_pupil.cpp index 6f38cdb..0dbeb1e 100644 --- a/src/icub_pupil.cpp +++ b/src/icub_pupil.cpp @@ -482,9 +482,11 @@ class ControlThread: public RateThread // call the predictor function action = predictAL(act_probability, state, action); + yInfo() << act_probability.at(0,0); + yInfo() << act_probability.at(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 @@ -492,7 +494,7 @@ class ControlThread: public RateThread reachArmGiving(p, o, xf, vcur); - } else if (action == 0) { + } else if (action == 1) { // just observe the action yInfo() << "I'm observing";