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perf(behavior_path_planner_common): remove unnecessary angle calculation in OccupancyGridMapBasedDetector #7103

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May 23, 2024
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perf(behavior_path_planner_common): remove unnecessary angle calculation in OccupancyGridMapBasedDetector #7103

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17 changes: 12 additions & 5 deletions ...utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,14 @@ void OccupancyGridBasedCollisionDetector::setMap(const nav_msgs::msg::OccupancyG
}
}

static IndexXY position2index(
const nav_msgs::msg::OccupancyGrid & costmap, const geometry_msgs::msg::Point & position_local)
{
const int index_x = position_local.x / costmap.info.resolution;
const int index_y = position_local.y / costmap.info.resolution;
return {index_x, index_y};
}

void OccupancyGridBasedCollisionDetector::computeCollisionIndexes(
int theta_index, std::vector<IndexXY> & indexes_2d)
{
Expand All @@ -131,12 +139,11 @@ void OccupancyGridBasedCollisionDetector::computeCollisionIndexes(
const double offset_x = std::cos(base_theta) * x - std::sin(base_theta) * y;
const double offset_y = std::sin(base_theta) * x + std::cos(base_theta) * y;

geometry_msgs::msg::Pose pose_local;
pose_local.position.x = base_pose.position.x + offset_x;
pose_local.position.y = base_pose.position.y + offset_y;
geometry_msgs::msg::Point position_local;
position_local.x = base_pose.position.x + offset_x;
position_local.y = base_pose.position.y + offset_y;

const auto index = pose2index(costmap_, pose_local, param_.theta_size);
const auto index_2d = IndexXY{index.x, index.y};
const auto index_2d = position2index(costmap_, position_local);
indexes_2d.push_back(index_2d);
};

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