refactor(start_planner): remove redundant calculation in shift pull out

[go-sakayori]

Description

There was some redundant calculation in the ShiftPullOut::calcPullOutPaths. This PR removes the redundant calculation outside the for loop and decreases the calculation time.　Below is an example of the processing time.

Before:

100.00% planWaitingApproval: total 110.06 [ms], avg. 7.34 [ms], run count: 15
    ├── 95.95% updatePullOutStatus: total 105.60 [ms], avg. 7.04 [ms], run count: 15
    │   ├── 0.12% calcBackwardPathFromStartPose: total 0.13 [ms], avg. 0.13 [ms], run count: 1
    │   ├── 0.10% searchPullOutStartPoseCandidates: total 0.11 [ms], avg. 0.11 [ms], run count: 1
    │   │   ├── 0.04% filterStopObjectsInPullOutLanes: total 0.04 [ms], avg. 0.02 [ms], run count: 2
    │   │   └── 0.06% rest: 0.06 [ms]
    │   ├── 95.66% planWithPriority: total 105.28 [ms], avg. 105.28 [ms], run count: 1
    │   │   ├── 0.00% determinePriorityOrder: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    │   │   ├── 95.64% findPullOutPaths: total 105.26 [ms], avg. 105.26 [ms], run count: 1
    │   │   │   ├── 40.63% calcPullOutPaths: total 44.72 [ms], avg. 1.60 [ms], run count: 28
    │   │   │   ├── 37.59% get safe path: total 41.37 [ms], avg. 0.37 [ms], run count: 112
    │   │   │   │   ├── 27.04% checkPathWillLeaveLane: total 29.76 [ms], avg. 0.27 [ms], run count: 112
    │   │   │   │   │   ├── 23.64% getFusedLaneletPolygonForPath: total 26.01 [ms], avg. 0.23 [ms], run count: 112
    │   │   │   │   │   │   ├── 7.37% getLaneletsFromPath: total 8.11 [ms], avg. 0.07 [ms], run count: 112
    │   │   │   │   │   │   └── 16.27% rest: 17.90 [ms]
    │   │   │   │   │   └── 3.40% rest: 3.74 [ms]
    │   │   │   │   ├── 9.57% cropPointsOutsideOfLanes: total 10.54 [ms], avg. 0.66 [ms], run count: 16
    │   │   │   │   │   ├── 8.34% getFusedLaneletPolygonForPath: total 9.18 [ms], avg. 0.57 [ms], run count: 16
    │   │   │   │   │   │   ├── 2.28% getLaneletsFromPath: total 2.51 [ms], avg. 0.16 [ms], run count: 16
    │   │   │   │   │   │   └── 6.06% rest: 6.67 [ms]
    │   │   │   │   │   ├── 0.72% check if footprint is within fused_lanlets_polygon: total 0.79 [ms], avg. 0.05 [ms], run count: 16
    │   │   │   │   │   └── 0.52% rest: 0.57 [ms]
    │   │   │   │   └── 0.97% rest: 1.07 [ms]
    │   │   │   └── 17.42% rest: 19.18 [ms]
    │   │   └── 0.02% rest: 0.02 [ms]
    │   └── 0.08% rest: 0.09 [ms]
    ├── 0.05% isPreventingRearVehicleFromPassingThrough: total 0.06 [ms], avg. 0.06 [ms], run count: 1
    │   ├── 0.15% isPreventingRearVehicleFromPassingThrough: total 0.16 [ms], avg. 0.08 [ms], run count: 2
    │   └── -0.10% rest: -0.10 [ms]
    ├── 0.03% isSafePath: total 0.04 [ms], avg. 0.04 [ms], run count: 1
    └── 3.96% rest: 4.36 [ms]

After:

100.00% planWaitingApproval: total 105.15 [ms], avg. 4.04 [ms], run count: 26
    ├── 92.88% updatePullOutStatus: total 97.67 [ms], avg. 3.76 [ms], run count: 26
    │   ├── 0.18% calcBackwardPathFromStartPose: total 0.19 [ms], avg. 0.19 [ms], run count: 1
    │   ├── 0.17% searchPullOutStartPoseCandidates: total 0.17 [ms], avg. 0.17 [ms], run count: 1
    │   │   ├── 0.07% filterStopObjectsInPullOutLanes: total 0.07 [ms], avg. 0.04 [ms], run count: 2
    │   │   └── 0.10% rest: 0.10 [ms]
    │   ├── 92.39% planWithPriority: total 97.16 [ms], avg. 97.16 [ms], run count: 1
    │   │   ├── 0.00% determinePriorityOrder: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    │   │   ├── 92.36% findPullOutPaths: total 97.12 [ms], avg. 97.12 [ms], run count: 1
    │   │   │   ├── 33.84% calcPullOutPaths: total 35.58 [ms], avg. 1.27 [ms], run count: 28
    │   │   │   ├── 38.55% get safe path: total 40.54 [ms], avg. 0.36 [ms], run count: 112
    │   │   │   │   ├── 27.80% checkPathWillLeaveLane: total 29.23 [ms], avg. 0.26 [ms], run count: 112
    │   │   │   │   │   ├── 24.41% getFusedLaneletPolygonForPath: total 25.67 [ms], avg. 0.23 [ms], run count: 112
    │   │   │   │   │   │   ├── 6.89% getLaneletsFromPath: total 7.24 [ms], avg. 0.06 [ms], run count: 112
    │   │   │   │   │   │   └── 17.53% rest: 18.43 [ms]
    │   │   │   │   │   └── 3.39% rest: 3.56 [ms]
    │   │   │   │   ├── 9.79% cropPointsOutsideOfLanes: total 10.29 [ms], avg. 0.64 [ms], run count: 16
    │   │   │   │   │   ├── 8.65% getFusedLaneletPolygonForPath: total 9.09 [ms], avg. 0.57 [ms], run count: 16
    │   │   │   │   │   │   ├── 2.43% getLaneletsFromPath: total 2.56 [ms], avg. 0.16 [ms], run count: 16
    │   │   │   │   │   │   └── 6.21% rest: 6.53 [ms]
    │   │   │   │   │   ├── 0.66% check if footprint is within fused_lanlets_polygon: total 0.69 [ms], avg. 0.04 [ms], run count: 16
    │   │   │   │   │   └── 0.49% rest: 0.51 [ms]
    │   │   │   │   └── 0.97% rest: 1.02 [ms]
    │   │   │   └── 19.97% rest: 20.99 [ms]
    │   │   └── 0.04% rest: 0.04 [ms]
    │   └── 0.15% rest: 0.15 [ms]
    ├── 0.09% isPreventingRearVehicleFromPassingThrough: total 0.09 [ms], avg. 0.09 [ms], run count: 1
    │   ├── 0.20% isPreventingRearVehicleFromPassingThrough: total 0.21 [ms], avg. 0.10 [ms], run count: 2
    │   └── -0.11% rest: -0.11 [ms]
    ├── 0.05% isSafePath: total 0.06 [ms], avg. 0.06 [ms], run count: 1
    └── 6.97% rest: 7.33 [ms]

Related links

None

How was this PR tested?

TIER IV internal simulator

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[kyoichi-sugahara]

LGTM!

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 9 lines in your changes missing coverage. Please review.

Project coverage is 24.09%. Comparing base (c80eddc) to head (6b75dbd).
Report is 36 commits behind head on main.

Files	Patch %	Lines
...r_path_start_planner_module/src/shift_pull_out.cpp	0.00%	9 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8623      +/-   ##
==========================================
- Coverage   24.10%   24.09%   -0.02%     
==========================================
  Files        1399     1403       +4     
  Lines      102455   102502      +47     
  Branches    38921    38920       -1     
==========================================
  Hits        24695    24695              
- Misses      75235    75282      +47     
  Partials     2525     2525              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	24.10% <ø> (+<0.01%)	⬆️	Carriedforward from c80eddc

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