perf(dynamic_obstacle_stop): create rtree with packing algorithm #7730
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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takayuki5168
approved these changes
Jun 27, 2024
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #7730 +/- ##
==========================================
- Coverage 14.84% 8.76% -6.09%
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Files 1999 195 -1804
Lines 139163 16987 -122176
Branches 43716 2232 -41484
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- Hits 20661 1489 -19172
+ Misses 95731 15317 -80414
+ Partials 22771 181 -22590
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soblin
approved these changes
Jun 28, 2024
| for (auto i = 0UL; i < ego_data.trajectory_footprints.size(); ++i) { | ||
| const auto box = boost::geometry::return_envelope<autoware::universe_utils::Box2d>( | ||
| ego_data.trajectory_footprints[i]); | ||
| ego_data.rtree.insert(std::make_pair(box, i)); | ||
| rtree_nodes.push_back(std::make_pair(box, i)); |
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Not a must, but I recommend
rtree_nodes.emplace_back({box, i}) // or meybe rtree_nodes.emplace_back(box, i)
ego_data.rtree = std::move(rtree_nodes);
for performance
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Thank you for the comment and sorry the branch was auto-merged.
I will try building the pairs in place and if it improves performance I will open a new PR.
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…owarefoundation#7730) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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…owarefoundation#7730) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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…owarefoundation#7730) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: palas21 <palas21@itu.edu.tr>
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…owarefoundation#7730) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Description
Improve performance of the
motion_velocity_plannerby creating the Rtree used in thedynamic_obstacle_stopplanner using the packing algorithm.How was this PR tested?
Psim
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.