perf(motion_velocity_planner): resample trajectory and build rtree with packing algorithm #1361
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…dation#7633) Signed-off-by: Maxime CLEMENT <[email protected]>
… time Float64 publishers (autowarefoundation#7683) Signed-off-by: Maxime CLEMENT <[email protected]>
…owarefoundation#7730) Signed-off-by: Maxime CLEMENT <[email protected]>
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]>
maxime-clem
force-pushed
the
cherry-pick/perf-out_of_lane
branch
from
3eb577e to
91da574
Compare
maxime-clem
requested review from
shmpwk,
takayuki5168,
tkimura4,
kyoichi-sugahara,
mkuri and
zulfaqar-azmi-t4
as code owners
takayuki5168
approved these changes
Jul 1, 2024
|
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Cherry-pick of autowarefoundation#7730 autowarefoundation#7732 autowarefoundation#7683 and autowarefoundation#7633
Tests performed
Psim and perception replayer.
Performance of the
out_of_lane(most heavy module) on a rosbag with many dynamic objects:Without the PR: ~50ms runtime with peaks at 80ms.
With the PR: ~15ms runtime with peaks at 25ms
Not applicable.
Effects on system behavior
Not applicable.
Interface changes
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.