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perf(dynamic_obstacle_stop): create rtree with packing algorithm #7730

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merged 1 commit into from
Jun 28, 2024
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perf(dynamic_obstacle_stop): create rtree with packing algorithm #7730

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5 changes: 4 additions & 1 deletion ..._velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,11 +74,14 @@ void make_ego_footprint_rtree(EgoData & ego_data, const PlannerParam & params)
for (const auto & p : ego_data.trajectory)
ego_data.trajectory_footprints.push_back(autoware::universe_utils::toFootprint(
p.pose, params.ego_longitudinal_offset, 0.0, params.ego_lateral_offset * 2.0));
std::vector<BoxIndexPair> rtree_nodes;
rtree_nodes.reserve(ego_data.trajectory_footprints.size());
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.

}
ego_data.rtree = Rtree(rtree_nodes);
}

} // namespace autoware::motion_velocity_planner::dynamic_obstacle_stop
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