Refine time comparison

Signed-off-by: methylDragon <methylDragon@gmail.com>
locusrobotics · Nov 9, 2022 · 96fabdd · 96fabdd
1 parent eb1ef49
commit 96fabdd
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/fuse_optimizers/src/batch_optimizer.cpp b/fuse_optimizers/src/batch_optimizer.cpp
@@ -217,10 +217,9 @@ void BatchOptimizer::transactionCallback(
     {
       purge_time = start_time_;
     }
-    // NOTE(CH3): In this case we're okay with uninitialized time since it's just used
-    //            for comparison
     // prevent a bad subtraction
-    else if (rclcpp::Time(0, 0, transaction_clock_type) + params_.transaction_timeout < last_pending_time)
+    else if (rclcpp::Time(params_.transaction_timeout.nanoseconds, last_pending_time.get_clock_type())
+             < last_pending_time)
     {
       purge_time = last_pending_time - params_.transaction_timeout;
     }

diff --git a/fuse_optimizers/src/fixed_lag_smoother.cpp b/fuse_optimizers/src/fixed_lag_smoother.cpp
@@ -538,9 +538,8 @@ void FixedLagSmoother::transactionCallback(
         auto last_pending_time = pending_transactions_.front().stamp();
 
         // rclcpp::Time doesn't allow negatives
-        // NOTE(CH3): In this case we're okay with uninitialized time since it's just used
-        //            for comparison
-        if (rclcpp::Time(0, 0, RCL_ROS_TIME) + params_.transaction_timeout < last_pending_time)
+        if (rclcpp::Time(params_.transaction_timeout.nanoseconds, last_pending_time.get_clock_type())
+            < last_pending_time)
         {
           purge_time = last_pending_time - params_.transaction_timeout;
         }