add comments explaining the unsigned integer division

ros-controls · Aug 6, 2023 · aef063e · aef063e
1 parent 7938f83
commit aef063e
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -623,6 +623,9 @@ controller_interface::return_type ControllerManager::configure_controller(
   }
   else if (controller_update_rate != 0 && cm_update_rate % controller_update_rate != 0)
   {
+    // NOTE: The following computation is done to compute the approx controller update that can be
+    // achieved w.r.t to the CM's update rate. This is done this way to take into account the
+    // unsigned integer division.
     const auto act_ctrl_update_rate = cm_update_rate / (cm_update_rate / controller_update_rate);
     RCLCPP_WARN(
       get_logger(),