message: does not work without delta
diff: @@ -21,9 +21,9 @@ bool ExecutionModelInterpolate::CheckIfWorldTimeIsWithinTrajectory(
  const Trajectory& trajectory,
  const float& world_time) const {
  bool is_in_traj = true;
  - float delta = 0.;
  - if ((world_time + 1e-4) < trajectory(0, TIME_POSITION) ||
  - (world_time - 1e-4) > trajectory(trajectory.rows() - 1, TIME_POSITION)) {
  + float delta = 1e-4;
  + if ((world_time + delta) < trajectory(0, TIME_POSITION) ||
  + (world_time - delta) > trajectory(trajectory.rows() - 1, TIME_POSITION)) {
  is_in_traj = false;
  LOG(INFO) << "World time " << world_time << " out of trajectory."
  << " Trajectory start_time: " << trajectory(0, TIME_POSITION)
  @@ -44,11 +44,11 @@ std::pair<State, bool> ExecutionModelInterpolate::CheckIfTimeExactIsInTrajectory
  // closer to the end; reverse
  if (fabs(world_time - end_time) < fabs(world_time - start_time)) {
  for (int i = trajectory.rows() - 1; 0 < i; i--)
  - if (trajectory(i, dynamic::TIME_POSITION) == world_time)
  + if ( fabs(trajectory(i, dynamic::TIME_POSITION) - world_time) < 1e-4)
  return {State(trajectory.row(i)), true};
  } else {
  for (int i = 0; i < trajectory.rows(); i++)
  - if (trajectory(i, dynamic::TIME_POSITION) == world_time)
  + if ( fabs(trajectory(i, dynamic::TIME_POSITION) - world_time) < 1e-4)
  return {State(trajectory.row(i)), true};
  }
  return {State(), false};
  @@ -76,19 +76,19 @@ void ExecutionModelInterpolate::Execute(
  // TODO(@hart): 3. if not interpolate
  // Interpolate(traj, time) <- could be linear, quadratic etc.
  - int index_world_time = 0;
  - float min_time_diff = std::numeric_limits<float>::max();
  - for (int i = 0; i < trajectory.rows(); i++) {
  - float diff_time = fabs(trajectory(i, dynamic::TIME_POSITION) - new_world_time);
  - if (diff_time < min_time_diff) {
  - index_world_time = i;
  - min_time_diff = diff_time;
  - }
  - }
  + // int index_world_time = 0;
  + // float min_time_diff = std::numeric_limits<float>::max();
  + // for (int i = 0; i < trajectory.rows(); i++) {
  + // float diff_time = fabs(trajectory(i, dynamic::TIME_POSITION) - new_world_time);
  + // if (diff_time < min_time_diff) {
  + // index_world_time = i;
  + // min_time_diff = diff_time;
  + // }
  + // }
  // house-keeping
  SetLastTrajectory(trajectory);
  - SetLastState(State(trajectory.row(index_world_time)));
  + // SetLastState(State(trajectory.row(index_world_time)));
  }
  } // namespace execution
  