Add explanation that it will not be checked in the future again

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Jun 27, 2022 · 96254f1 · 96254f1
1 parent 8d159ef
commit 96254f1
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diff --git a/rmf_robot_sim_gazebo_plugins/src/slotcar.cpp b/rmf_robot_sim_gazebo_plugins/src/slotcar.cpp
@@ -159,6 +159,9 @@ std::vector<Eigen::Vector3d> SlotcarPlugin::get_obstacle_positions(
 void SlotcarPlugin::OnUpdate()
 {
   const auto& world = _model->GetWorld();
+
+  // After initialization once, this set will have at least one exclusion, which
+  // is the itself.
   if (obstacle_exclusions.empty())
     init_obstacle_exclusions();
 

diff --git a/rmf_robot_sim_ignition_plugins/src/slotcar.cpp b/rmf_robot_sim_ignition_plugins/src/slotcar.cpp
@@ -458,6 +458,9 @@ void SlotcarPlugin::PreUpdate(const UpdateInfo& info,
 
   // TODO parallel thread executor?
   rclcpp::spin_some(_ros_node);
+
+  // After initialization once, this set will have at least one exclusion, which
+  // is the itself.
   if (_obstacle_exclusions.empty())
     init_obstacle_exclusions(ecm);