Prepare-To-Add-an-Algorithm-Checklist.md

@@ -4,7 +4,7 @@
 
 **NOTE:** if the algorithm is considered **SLOW**, make a separate thread/process/node for calculation. And inform OAC to allow multiple plan cycles.
 
-**NOTE:** Also, you don't have to collect data only when `collect` is called. The main purpose of the `collect` function is to check the preconditions of the algorithm to determine whether to accept the results from it. In fact, you can collect data from sensors whenever you want, and just return a flag to indicate whether the algorithm is valid in the current condition when collect is called.
+**NOTE:** Also, you don't have to collect data only when `collect` is called if you have your only runner thread. The main purpose of the `collect` function is to check the preconditions of the algorithm to determine whether to accept the results from it. In fact, you can collect data from sensors whenever you want, and just return a flag to indicate whether the algorithm is valid in the current condition when collect is called.
 
 **NOTE:** We are planning to add the function to allow an algorithm to skip multiple OAC cycles (from very slow path planning algorithms). It will most likely be a slot in the data queue.