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[jtc] Improve trajectory sampling efficiency #1297
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[jtc] Improve trajectory sampling efficiency #1297
RobertWilbrandt
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commits into
ros-controls:master
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RobertWilbrandt:faster_trajectory_sampling
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September 26, 2024 17:17
christophfroehlich
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LGTM, thanks!
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #1297 +/- ##
==========================================
+ Coverage 80.57% 80.63% +0.06%
==========================================
Files 109 109
Lines 9553 9594 +41
Branches 832 834 +2
==========================================
+ Hits 7697 7736 +39
Misses 1578 1578
- Partials 278 280 +2
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This PR addresses the increasing effort required in
Trajectory::sample()
raised in #1293 by exploiting the monotonically increasing access time for any trajectory. Instead of scanning through the complete trajectory to find the relevant trajectory points for the current sampling time, theTrajectory
class keeps track of the last accessed index and only searches from there on. This supersedes the proposed binary search in #1294 and is based on #474.Based on the requests in #474, i added checks for the new trajectory state to existing tests and added a new test to make sure that the index is correctly reset when calling
Trajectory::update()
. I verified that this indeed solves the problem by re-running the trajectory from #1293 and again plotting the periods betweenwrite()
calls in my hardware interface:The upper plot shows the progression of the period before this change, the lower one the behavior wtih this PR applied. The large spikes at the beginning and end are the start and end of the trajectory, the spikes in the middle are probably a result of me testing this on my normal laptop without RT kernel and doing some things on the side.