check traj time

0d2bb8d7 · wangdawei · fecc9429 · 0d2bb8d7
Commit 0d2bb8d7 authored Jun 14, 2023 by wangdawei
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adjust_ppk.cpp libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp +3 -0

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--- a/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+++ b/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
@@ -127,6 +127,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
    if(frontPTime < localPoseVec_.front().timestamp){
        return;
    }
+    if(backPTime > localPoseVec_.back().timestamp){
+        return;
+    }
    vector<IsometryData> periodPose = HandleLocalPPK(backPTime, frontPTime);
    CloudPacket cloudPacket;
    ros::Time rosTime;