perf(motion_velocity_planner): resample trajectory after vel smoothing #7732
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Signed-off-by: Maxime CLEMENT <[email protected]>
…rmance (autowarefoundation#7691)" This reverts commit 8444a9e.
Signed-off-by: Maxime CLEMENT <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #7732 +/- ##
===========================================
- Coverage 14.84% 11.34% -3.51%
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Files 1999 195 -1804
Lines 139163 17009 -122154
Branches 43716 3077 -40639
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- Hits 20661 1929 -18732
+ Misses 95731 14711 -81020
+ Partials 22771 369 -22402
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autowarefoundation#7732) * perf(dynamic_obstacle_stop): create rtree with packing algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Revert "perf(out_of_lane): downsample the trajectory to improve performance (autowarefoundation#7691)" This reverts commit 8444a9e. * perf(motion_velocity_planner): resample trajectory after vel smoothing Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]>
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autowarefoundation#7732) * perf(dynamic_obstacle_stop): create rtree with packing algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Revert "perf(out_of_lane): downsample the trajectory to improve performance (autowarefoundation#7691)" This reverts commit 8444a9e. * perf(motion_velocity_planner): resample trajectory after vel smoothing Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]>
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autowarefoundation#7732) * perf(dynamic_obstacle_stop): create rtree with packing algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Revert "perf(out_of_lane): downsample the trajectory to improve performance (autowarefoundation#7691)" This reverts commit 8444a9e. * perf(motion_velocity_planner): resample trajectory after vel smoothing Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]>
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autowarefoundation#7732) * perf(dynamic_obstacle_stop): create rtree with packing algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Revert "perf(out_of_lane): downsample the trajectory to improve performance (autowarefoundation#7691)" This reverts commit 8444a9e. * perf(motion_velocity_planner): resample trajectory after vel smoothing Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: palas21 <[email protected]>
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autowarefoundation#7732) * perf(dynamic_obstacle_stop): create rtree with packing algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Revert "perf(out_of_lane): downsample the trajectory to improve performance (autowarefoundation#7691)" This reverts commit 8444a9e. * perf(motion_velocity_planner): resample trajectory after vel smoothing Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]>
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#7732) * perf(dynamic_obstacle_stop): create rtree with packing algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Revert "perf(out_of_lane): downsample the trajectory to improve performance (#7691)" This reverts commit 8444a9e. * perf(motion_velocity_planner): resample trajectory after vel smoothing Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]>
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Description
Improve performance issue (esp. with the
out_of_lanemodule) caused by the very high number of points in the trajectory after velocity smoothing (easily around3500points).This PR adds a resampling to limit the number of points in the trajectory and reduce the performance issues.
This reverts #7691
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How was this PR tested?
Psim
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Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.