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perf(bpp): reduce computational cost #6054

Merged
merged 5 commits into from
Jan 15, 2024
Merged

perf(bpp): reduce computational cost #6054

merged 5 commits into from
Jan 15, 2024

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satoshi-ota
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@satoshi-ota satoshi-ota commented Jan 11, 2024 •
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Description

Reduce aggregated costs 14.7% to 10.7% in behavior planning container by following improvement.

  • reduce frequecy to call calcSignedArcLength
  • don't use boost::geometry::union_
  • don't use std::hypot

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Tests performed

Effects on system behavior

Not applicable.

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  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 11, 2024
@satoshi-ota satoshi-ota marked this pull request as ready for review January 12, 2024 04:25
@satoshi-ota satoshi-ota changed the title pref(bpp): reduce computational cost perf(bpp): reduce computational cost Jan 12, 2024
@satoshi-ota
pref(avoidance): don't use boost union_
df8b825 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
perf(avoidance): reduce frequency to call calcSignedArcLength
dbb0434 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
perf(turn_signal): reduce frequency to call calcSignedArcLength
04c8ebd 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
perf(static_drivable_area_expansion): don't use calcDistance2d
fe1275f 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
fix(static_drivable_area_expansion): rename and fix return value cons…
34f0c19 
…istency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota satoshi-ota force-pushed the perf/reduce-computational-cost branch from 55ae9a7 to 34f0c19 Compare January 15, 2024 01:27
@satoshi-ota satoshi-ota added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 15, 2024
@satoshi-ota satoshi-ota enabled auto-merge (squash) January 15, 2024 09:45
@satoshi-ota satoshi-ota merged commit eeed846 into autowarefoundation:main Jan 15, 2024
29 of 31 checks passed
@satoshi-ota satoshi-ota deleted the perf/reduce-computational-cost branch January 15, 2024 23:07
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Jan 17, 2024
@satoshi-ota @kosuke55
perf(bpp): reduce computational cost (autowarefoundation#6054)
e967e3a 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Jan 17, 2024
@satoshi-ota
perf(bpp): reduce computational cost (autowarefoundation#6054)
fc3be43 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jan 24, 2024
Merged
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Mar 8, 2024
@satoshi-ota
perf(bpp): reduce computational cost (autowarefoundation#6054)
4ff3f7c 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Apr 1, 2024
@satoshi-ota @TomohitoAndo
perf(bpp): reduce computational cost (autowarefoundation#6054)
bd3dedc 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Apr 8, 2024
@satoshi-ota
perf(bpp): reduce computational cost (autowarefoundation#6054)
ac5ca1a 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 26, 2024
@satoshi-ota @karishma1911
perf(bpp): reduce computational cost (autowarefoundation#6054)
7502d22 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
@satoshi-ota @karishma1911
perf(bpp): reduce computational cost (autowarefoundation#6054)
4b231a9 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
@satoshi-ota @karishma1911
perf(bpp): reduce computational cost (autowarefoundation#6054)
cca57fa 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
@satoshi-ota @karishma1911
perf(bpp): reduce computational cost (autowarefoundation#6054)
df368f8 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Jun 6, 2024
@satoshi-ota
perf(bpp): reduce computational cost (autowarefoundation#6054)
87a45d6 
* pref(avoidance): don't use boost union_

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(avoidance): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(turn_signal): reduce frequency to call calcSignedArcLength

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* perf(static_drivable_area_expansion): don't use calcDistance2d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(static_drivable_area_expansion): rename and fix return value consistency

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Reviewers

@rej55 rej55 rej55 approved these changes

@kosuke55 kosuke55 kosuke55 approved these changes

@maxime-clem maxime-clem maxime-clem approved these changes

@danielsanchezaran danielsanchezaran Awaiting requested review from danielsanchezaran

@soblin soblin Awaiting requested review from soblin

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@satoshi-ota @rej55 @danielsanchezaran @kosuke55 @maxime-clem