Add comments for exact match tolerance

Signed-off-by: methylDragon <[email protected]>
osrf · Nov 20, 2023 · ccbf91c · ccbf91c
1 parent 6004f96
commit ccbf91c
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/nexus_motion_planner/src/motion_planner_server.cpp b/nexus_motion_planner/src/motion_planner_server.cpp
@@ -247,6 +247,7 @@ MotionPlannerServer::MotionPlannerServer(const rclcpp::NodeOptions& options)
     "Setting parameter cache_db_port to [%d]", _cache_db_port
   );
 
+  // For floating point comparison, what counts as an "exact" match.
   _cache_exact_match_tolerance = this->declare_parameter(
     "cache_exact_match_tolerance", 0.0005);  // ~0.028 degrees per joint
   RCLCPP_INFO(

diff --git a/nexus_motion_planner/src/motion_planner_server.hpp b/nexus_motion_planner/src/motion_planner_server.hpp
@@ -127,7 +127,7 @@ class MotionPlannerServer : public rclcpp_lifecycle::LifecycleNode
   std::string _cache_db_plugin;
   std::string _cache_db_host;
   int _cache_db_port;
-  double _cache_exact_match_tolerance;
+  double _cache_exact_match_tolerance;  // for floating point comparison
   double _cache_start_match_tolerance;
   double _cache_goal_match_tolerance;