Speed-up global localization #248
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[#646] FAILED on kinetic
[#646] PASSED on melodicAll tests passed |
at-wat
commented
Aug 1, 2019
CMakeLists.txt
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| @@ -34,7 +34,7 @@ catkin_package( | |||
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| add_compile_options(-std=c++11) | |||
| add_compile_options(-std=c++17) | |||
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c++17 is not ready on kinetic environment
Codecov Report
@@ Coverage Diff @@
## master #248 +/- ##
==========================================
+ Coverage 94.22% 94.36% +0.13%
==========================================
Files 25 21 -4
Lines 1559 1491 -68
==========================================
- Hits 1469 1407 -62
+ Misses 90 84 -6
Continue to review full report at Codecov.
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[#647] FAILED on kinetic
[#647] PASSED on melodicAll tests passed |
[#648] PASSED on kineticAll tests passed[#648] PASSED on melodicAll tests passed |
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@nhatao please take a look |
nhatao
approved these changes
Aug 2, 2019
include/mcl_3dl/pf.h
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| p_sum = 0; | ||
| for (auto& p : particles_) | ||
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| const size_t num = |
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The variable name "num" is too vague.
In addition, because it is used only in if-block in L304, It is better to move this within that if-block.
[#649] PASSED on melodicAll tests passed[#649] PASSED on kineticAll tests passed |
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for #247
Roughly 15% of time in the example #247 (comment) is reduced.