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perf(behavior_velocity_planner): use faster PolygonIterator #943
perf(behavior_velocity_planner): use faster PolygonIterator #943
Commits on May 25, 2022
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Add grid_map_utils pkg with faster implementation of PolygonIterator
Signed-off-by: Maxime CLEMENT <[email protected]>
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Factorize code of PolygonIterator (ongoing)
Signed-off-by: Maxime CLEMENT <[email protected]>
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Add program to visualize difference with grid_map::PolygonIterator
Signed-off-by: Maxime CLEMENT <[email protected]>
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Cleanup code and make behavior closer to grid_map::PolygonIterator
Signed-off-by: Maxime CLEMENT <[email protected]>
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Fix bug: some pairs of y intersection outside the map were not removed
Signed-off-by: Maxime CLEMENT <[email protected]>
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Replace debug visualization exe with benchmark+visualization exe
Signed-off-by: Maxime CLEMENT <[email protected]>
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Fix bug when calculating min_vertex_x + code cleanup
Signed-off-by: Maxime CLEMENT <[email protected]>
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Calculate Indexes during iteration (faster than during construction)
Signed-off-by: Maxime CLEMENT <[email protected]>
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Change list to vector for better performances
Signed-off-by: Maxime CLEMENT <[email protected]>
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Add README and runtime comparison figure
Signed-off-by: Maxime CLEMENT <[email protected]>
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Remove polygon drawing and cleanup benchmark
Signed-off-by: Maxime CLEMENT <[email protected]>
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Add 2 failing tests + improve benchmark
Signed-off-by: Maxime CLEMENT <[email protected]>
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Commits on May 26, 2022
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Update edge case test (diff with grid_map) and update README:Assumptions
Signed-off-by: Maxime CLEMENT <[email protected]>
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Signed-off-by: Maxime CLEMENT <[email protected]>
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