From deab259847b27658f752db1d4fc24a2ac1f776ff Mon Sep 17 00:00:00 2001
From: NunoDuarte <nunoduarte.cc.fduarte@gmail.com>
Date: Tue, 15 May 2018 14:34:54 +0100
Subject: [PATCH] the actions were miss placed

---
 src/icub_pupil.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

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<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
@@ -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";