From 5c5d8b3189b0714464a7e669477547d483405434 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Mon, 2 Dec 2024 09:17:00 +0100
Subject: [PATCH] Disabled perception update pose

---
 Roboid.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/Roboid.cpp b/Roboid.cpp
index c9b0e4b..493fc7c 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -49,13 +49,13 @@ void Roboid::Update(unsigned long currentTimeMs) {
     SwingTwist16 rotation =
         SwingTwist16::AngleAxis(this->angularVelocity.distance * deltaTime,
                                 this->angularVelocity.direction);
-    if (perception != nullptr)
-      perception->UpdatePose(rotation);
+    // if (perception != nullptr)
+    //   perception->UpdatePose(rotation);
 
     SetOrientation(this->orientation * rotation);
   }
 
-  if (childCount > 0 && children != nullptr) {
+  if (children != nullptr) {
     for (unsigned char childIx = 0; childIx < this->childCount; childIx++)
       children[childIx]->Update(currentTimeMs);
   }
@@ -108,12 +108,10 @@ void Roboid::AddChild(Thing *child) {
   }
 }
 
-#include <Arduino.h>
 void Passer::RoboidControl::Roboid::Release(Thing *child) {
   if (RemoveChild(child) != nullptr) {
     child->position = this->position;
     child->orientation = this->orientation;
-    printf("obj distance %f\n", child->position.distance);
     this->perception->AddTrackedObject(nullptr, child);
   }
 }