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perf(static_obstacle_avoidance): improve logic to reduce computational cost #8432

Merged
merged 3 commits into from
Aug 13, 2024
Merged

perf(static_obstacle_avoidance): improve logic to reduce computational cost #8432

merged 3 commits into from
Aug 13, 2024

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satoshi-ota
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@satoshi-ota satoshi-ota commented Aug 9, 2024 •
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Description

272846b

Since the process of yaw deviation check is heavy, I fixed it in order to check object within/without target lane first.

image

d638d08

The postProcess() function is automatically called in this line.

7ba2c3d

Don't use heavy process calcSignedArcLength().

image

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Parent Issue:

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How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 9, 2024
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github-actions bot commented Aug 9, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@satoshi-ota satoshi-ota added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 12, 2024
@satoshi-ota satoshi-ota enabled auto-merge (squash) August 12, 2024 23:07
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codecov bot commented Aug 12, 2024 •
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Codecov Report

Attention: Patch coverage is 7.14286% with 13 lines in your changes missing coverage. Please review.

Project coverage is 23.87%. Comparing base (13ac473) to head (fc3b7bc).
Report is 1 commits behind head on main.

Files Patch % Lines
...rc/utils/path_safety_checker/objects_filtering.cpp 0.00% 12 Missing ⚠️
...ath_static_obstacle_avoidance_module/src/utils.cpp 50.00% 0 Missing and 1 partial ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #8432      +/-   ##
==========================================
- Coverage   23.89%   23.87%   -0.02%     
==========================================
  Files        1379     1385       +6     
  Lines      101582   101625      +43     
  Branches    38638    38639       +1     
==========================================
  Hits        24268    24268              
- Misses      74855    74898      +43     
  Partials     2459     2459
Flag Coverage Δ *Carryforward flag
differential 15.09% <7.14%> (?)
total 23.89% <ø> (+<0.01%) ⬆️ Carriedforward from 13ac473

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

@satoshi-ota
perf(safety_check): check within first
c232b74 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
perf(static_obstacle_avoidance): remove duplicated process
d8d581d 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
perf(static_obstacle_avoidance): remove heavy process
fc3b7bc 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota satoshi-ota force-pushed the perf/static-obstacle-avoidance branch from 7ba2c3d to fc3b7bc Compare August 13, 2024 00:33
@satoshi-ota satoshi-ota merged commit 1dc6db3 into autowarefoundation:main Aug 13, 2024
29 of 30 checks passed
@satoshi-ota satoshi-ota deleted the perf/static-obstacle-avoidance branch August 13, 2024 01:23
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Aug 13, 2024
@satoshi-ota
perf(static_obstacle_avoidance): improve logic to reduce computationa…
a4563aa 
…l cost (autowarefoundation#8432)

* perf(safety_check): check within first

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

* perf(static_obstacle_avoidance): remove duplicated process

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

* perf(static_obstacle_avoidance): remove heavy process

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

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota satoshi-ota mentioned this pull request Aug 13, 2024
Merged
Naophis added a commit to tier4/autoware.universe that referenced this pull request Aug 13, 2024
@Naophis
Merge pull request #1458 from tier4/hotfix/v0.29.0/cherry-pick-avoidance
ecb33b2 
perf(static_obstacle_avoidance): improve logic to reduce computational cost (autowarefoundation#8432)
esteve pushed a commit to esteve/autoware.universe that referenced this pull request Aug 13, 2024
@satoshi-ota @esteve
perf(static_obstacle_avoidance): improve logic to reduce computationa…
c1eb259 
…l cost (autowarefoundation#8432)

* perf(safety_check): check within first

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

* perf(static_obstacle_avoidance): remove duplicated process

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

* perf(static_obstacle_avoidance): remove heavy process

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

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
xtk8532704 pushed a commit to tier4/autoware.universe that referenced this pull request Aug 15, 2024
@satoshi-ota @xtk8532704
perf(static_obstacle_avoidance): improve logic to reduce computationa…
ae8fbae 
…l cost (autowarefoundation#8432)

* perf(safety_check): check within first

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

* perf(static_obstacle_avoidance): remove duplicated process

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

* perf(static_obstacle_avoidance): remove heavy process

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

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: xtk8532704 <1041084556@qq.com>
mbharatheesha pushed a commit to nobleo/autoware.universe that referenced this pull request Aug 16, 2024
@satoshi-ota @mbharatheesha
perf(static_obstacle_avoidance): improve logic to reduce computationa…
2c5148b 
…l cost (autowarefoundation#8432)

* perf(safety_check): check within first

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

* perf(static_obstacle_avoidance): remove duplicated process

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

* perf(static_obstacle_avoidance): remove heavy process

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

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: Mukunda Bharatheesha <mukunda.bharatheesha@nobleo.nl>
mbharatheesha pushed a commit to nobleo/autoware.universe that referenced this pull request Aug 16, 2024
@satoshi-ota @mbharatheesha
perf(static_obstacle_avoidance): improve logic to reduce computationa…
3dadb65 
…l cost (autowarefoundation#8432)

* perf(safety_check): check within first

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

* perf(static_obstacle_avoidance): remove duplicated process

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

* perf(static_obstacle_avoidance): remove heavy process

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

---------

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