Merge branch 'pps-with-modulations-devMultiEvent' of https://github.c…

…om/robotology/peripersonal-space into pps-with-modulations-devMultiEvent

lib/src/taxelPWE.cpp

@@ -116,28 +116,28 @@ using namespace       std;
                In[0] = it->getNRM(); 
                In[1] = it->getTTC(); 
                locResp = pwe->computeResponse(In);
-               yDebug("[TaxelPWE::computeResponse()] event %s inside RF\n",it->toString().c_str());
-               yDebug("locResp = locResp  + locResp * min(1.0,Evnt.Threat + stress_modulation)\n");
-               yDebug("    = %f  + %f * min(1.0,%f + %f)\n",locResp,locResp,it->Threat,stress_modulation);
+               //yDebug("[TaxelPWE::computeResponse()] Taxel ID: %d, event inside RF - event in Taxel FoR: \n %s \n",this->getID(), it->toString().c_str());
+               //yDebug("locResp = locResp  + locResp * min(1.0,Evnt.Threat + stress_modulation)\n");
+               //yDebug("    = %.2f  + %.2f * min(1.0,%.2f + %.2f)\n",locResp,locResp,it->Threat,stress_modulation);
                locResp = locResp + (locResp * min(1.0,it->Threat + stress_modulation)); //with this amplification,
                //may come out of the range (which used to be <0,255>, now <0,1> after 9.8.2016)
                //- in fact up to double that range
-               yDebug(" locResp  = %f  \n",locResp);
+               //yDebug(" locResp  = %.2f  \n",locResp);
                if (locResp > maxResp)
                    maxResp = locResp;
             }
             else
-                yDebug("[TaxelPWE::computeResponse()] event %s outside RF\n",it->toString().c_str());
+                ;//yDebug("[TaxelPWE::computeResponse()] Taxel ID: %d, event outside RF - event in Taxel FoR\n %s \n",this->getID(), it->toString().c_str());
         }
         In.clear(); 
         if (maxResp > 0.0)
         {
-            yDebug(" Setting taxel response to maxResp: %f\n",maxResp);
+            //yDebug(" Setting taxel response to maxResp: %.2f\n",maxResp);
             Resp = maxResp;
             return true;
         }
         else{
-            yDebug(" maxResp was <=0 (%f) - Leaving taxel response 0, returning false.\n",maxResp);
+            //yDebug(" maxResp was <=0 (%.2f) - Leaving taxel response 0, returning false.\n",maxResp);
             return false;
         }
      }

modules/visuoTactileRF/vtRFThread.cpp

@@ -919,7 +919,8 @@ bool vtRFThread::projectIncomingEvents()
             for (size_t j = 0; j < iCubSkin[i].taxels.size(); j++)
             {
                 dynamic_cast<TaxelPWE*>(iCubSkin[i].taxels[j])->Evnts.push_back(projectIntoTaxelRF(iCubSkin[i].taxels[j]->getFoR(),T_a,
-                    (*it))); //here every taxel (TaxelPWE) is updated with the event - if it is relevant for it
+                    (*it))); //here every taxel (TaxelPWE) is updated with the event
+                //future work - would be better to check if it is inside the RF and only those that pass push to the taxel's events
 
                 // There's a reason behind this choice
                 dumpedVector.push_back((dynamic_cast<TaxelPWE*>(iCubSkin[i].taxels[j]))->Evnts.back().Pos[0]);
@@ -975,7 +976,7 @@ bool vtRFThread::computeResponse(double stress_modulation)
         for (size_t j = 0; j < iCubSkin[i].taxels.size(); j++)
         {
             dynamic_cast<TaxelPWE*>(iCubSkin[i].taxels[j])->computeResponse(stress_modulation);
-            printMessage(4,"\t Representative ID %i\tResponse %f (with stress modulation:%f)\n",j,dynamic_cast<TaxelPWE*>(iCubSkin[i].taxels[j])->Resp,stress_modulation);
+            printMessage(4,"\t Representative ID %i\tResponse %.2f (with stress modulation:%.2f)\n",j,dynamic_cast<TaxelPWE*>(iCubSkin[i].taxels[j])->Resp,stress_modulation);
         }
     }