From ba4f10601ae8f920244387676eed5ca7abeb8144 Mon Sep 17 00:00:00 2001
From: koide3 <31344317+koide3@users.noreply.github.com>
Date: Tue, 26 Nov 2024 09:54:55 +0900
Subject: [PATCH] limit maximum fast forward steps (#120)

---
 src/glim/mapping/global_mapping_pose_graph.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/glim/mapping/global_mapping_pose_graph.cpp b/src/glim/mapping/global_mapping_pose_graph.cpp
index 47e2e514..a56b71fd 100644
--- a/src/glim/mapping/global_mapping_pose_graph.cpp
+++ b/src/glim/mapping/global_mapping_pose_graph.cpp
@@ -314,7 +314,7 @@ void GlobalMappingPoseGraph::find_loop_candidates(int current) {
         const double travel_dist_avg = (submap_targets[i]->travel_dist - submap_targets[left]->travel_dist) / std::max(i - left, 1);
         const int step = 0.8 * direct_dist / std::min(travel_dist_avg, 100.0);
 
-        i += step;
+        i += std::min(10, step);
       }
 
       continue;