test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -337,7 +337,7 @@ bool AdjustPPK::Undisort(
 bool AdjustPPK::ConfigMap(double timestamp)
 {
     int ret;
-    bool newMatcher = false;
+    static size_t lastPeriodIndex = 9999;
     while(true){
         ret = ppkPeriodVec_.at(periodIndex_).InPeriod(timestamp);
         if(-1 == ret){
@@ -345,9 +345,8 @@ bool AdjustPPK::ConfigMap(double timestamp)
         }
         if(0 == ret){
             periodIndex_++;
-            newMatcher = true;
             LOG(INFO) << "next period " << periodIndex_;
-        }else{  //no need reset matcher
+        }else{
             break;
         }
         if(periodIndex_ >= ppkPeriodVec_.size()){
@@ -355,7 +354,7 @@ bool AdjustPPK::ConfigMap(double timestamp)
             return false;
         }
     }
-    if(!newMatcher){
+    if(lastPeriodIndex == periodIndex_){
         return true;
     }
     auto meshId = ppkPeriodVec_.at(periodIndex_).meshId;
@@ -364,6 +363,7 @@ bool AdjustPPK::ConfigMap(double timestamp)
     }
     currMatcher_ = meshVec_.at(meshId).matcher;
     LOG(INFO) << "set currMatcher_: " << meshId;
+    lastPeriodIndex = periodIndex_;
     return true;
 }