Relative slack on the "has the command reached its duration?" test.
A command completes once elapsed >= duration - |duration| · tolerance. See
the module note on timing for why the tolerance exists and why 1e-9 is the
value: it swamps the worst realistic accumulation error of summing dts
(duration · ε / dt, about 1.3e-11 relative for a 1000 s command at 60 Hz)
while remaining unobservable as time.
Relative slack on the "has the command reached its duration?" test.
A command completes once
elapsed >= duration - |duration| · tolerance. See the module note on timing for why the tolerance exists and why1e-9is the value: it swamps the worst realistic accumulation error of summingdts (duration · ε / dt, about 1.3e-11 relative for a 1000 s command at 60 Hz) while remaining unobservable as time.