From 11b45e96f0735fa5c668386ef0da6ebf80011998 Mon Sep 17 00:00:00 2001
From: Prateek Machiraju <prateek.machiraju@gmail.com>
Date: Mon, 1 Jul 2019 11:06:41 -0400
Subject: [PATCH] Optimize pure pursuit computation time

---
 src/main/cpp/fl/mathematics/control/PurePursuitTracker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/cpp/fl/mathematics/control/PurePursuitTracker.cpp b/src/main/cpp/fl/mathematics/control/PurePursuitTracker.cpp
index f8269b3..a0b9521 100644
--- a/src/main/cpp/fl/mathematics/control/PurePursuitTracker.cpp
+++ b/src/main/cpp/fl/mathematics/control/PurePursuitTracker.cpp
@@ -47,7 +47,7 @@ Pose2d PurePursuitTracker::CalculateLookaheadPose(const TimedIterator<Pose2dWith
   }
 
   auto lookahead_pose_by_distance = iterator.CurrentState().state.State().Pose();
-  auto previewed_time             = units::second_t(0.0);
+  auto previewed_time             = lookahead_time_;
 
   // Run the loop until a distance that is greater than the minimum lookahead distance is found or until
   // we run out of "trajectory" to search. If this happens, we will simply extend the end of the trajectory.