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perf(behavior_velocity_planner): use faster PolygonIterator #943

Merged
merged 14 commits into from
May 30, 2022
Merged

perf(behavior_velocity_planner): use faster PolygonIterator #943

merged 14 commits into from
May 30, 2022

Commits on May 25, 2022

  1. Add grid_map_utils pkg with faster implementation of PolygonIterator 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  2. Factorize code of PolygonIterator (ongoing) 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  3. Add program to visualize difference with grid_map::PolygonIterator 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  4. Cleanup code and make behavior closer to grid_map::PolygonIterator 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  5. Fix bug: some pairs of y intersection outside the map were not removed 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  6. Replace debug visualization exe with benchmark+visualization exe 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  7. Fix bug when calculating min_vertex_x + code cleanup 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  8. Calculate Indexes during iteration (faster than during construction) 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  9. Change list to vector for better performances 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  10. Add README and runtime comparison figure 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  11. Remove polygon drawing and cleanup benchmark 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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  12. Add 2 failing tests + improve benchmark 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 25, 2022
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Commits on May 26, 2022

  1. Update edge case test (diff with grid_map) and update README:Assumptions 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 26, 2022
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  2. Fix self-crossing test 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed May 26, 2022
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