From 740c99a9beb23c68a1f0d40a1eabe6c938674be7 Mon Sep 17 00:00:00 2001
From: Guilherme Lawless <guilawless@live.com>
Date: Fri, 20 Jan 2017 18:19:21 +0000
Subject: [PATCH] To be reverted - hack to overwrite the landmark observation
 distance from dataset

---
 src/pfuclt_omni_dataset.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/pfuclt_omni_dataset.cpp b/src/pfuclt_omni_dataset.cpp
index 9d0b28f..839c2a1 100644
--- a/src/pfuclt_omni_dataset.cpp
+++ b/src/pfuclt_omni_dataset.cpp
@@ -342,6 +342,14 @@ void Robot::landmarkDataCallback(
       obs.x = landmarkData->x[i];
       obs.y = landmarkData->y[i];
       obs.d = sqrt(obs.x * obs.x + obs.y * obs.y);
+
+      //TODO remove this "hack" that goes over the dataset threshold distance
+      if(obs.d > 2.0)
+      {
+        pf_->saveLandmarkObservation(robotNumber_, i, false);
+        continue;
+      }
+
       obs.phi = atan2(obs.y, obs.x);
       obs.covDD =
           (K1 * fabs(1.0 - (landmarkData->AreaLandMarkActualinPixels[i] /