perf(bpp): reduce computational cost #6054
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...ning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
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Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <[email protected]> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <[email protected]> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <[email protected]> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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Description
Reduce aggregated costs 14.7% to 10.7% in behavior planning container by following improvement.
calcSignedArcLengthboost::geometry::union_std::hypotTests performed
Effects on system behavior
Not applicable.
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