check fst traj time

fecc9429 · wangdawei · ab2ac1a6 · fecc9429
Commit fecc9429 authored Jun 14, 2023 by wangdawei
Hide whitespace changes
Inline Side-by-side

Showing with 3 additions and 0 deletions

adjust_ppk.cpp libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp +3 -0

No files found.
--- a/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
+++ b/libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp
@@ -124,6 +124,9 @@ void AdjustPPK::OnReceivedCloud(const PPointCloud &cloud)
 //    }
    double backPTime = cloud.back().timestamp;
    double frontPTime = cloud.front().timestamp;
+    if(frontPTime < localPoseVec_.front().timestamp){
+        return;
+    }
    vector<IsometryData> periodPose = HandleLocalPPK(backPTime, frontPTime);
    CloudPacket cloudPacket;
    ros::Time rosTime;