perf(behavior_path_planner): simplify calculateDistanceLimit for dynamic drivable area expansion #4163
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
This reverts commit b291af4.
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Additional details and impacted files@@ Coverage Diff @@
## main #4163 +/- ##
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- Coverage 15.24% 15.24% -0.01%
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Files 1465 1465
Lines 101622 101707 +85
Branches 31359 31423 +64
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+ Hits 15497 15507 +10
- Misses 69277 69331 +54
- Partials 16848 16869 +21
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maxime-clem
requested review from
rej55,
kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
taikitanaka3,
TakaHoribe,
takayuki5168,
tkimura4,
purewater0901 and
zulfaqar-azmi-t4
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tkimura4
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Jul 7, 2023
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LGTM.
I checked the frequency of /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id in the curved lane.
( I enabled dynamic_expansion and changed extra_footprint_offset from 0.5 to 3.0. )
On my PC (ThinkPad X1 Extreme Gen4), the frequency was 0.2Hz before PR merge, but it becomes >9.9Hz after PR merge.
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Jul 7, 2023
…mic drivable area expansion (autowarefoundation#4163) * Add a test for the calculateDistanceLimit function Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove use of boost::geometry::within to improve performance Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * [TMP] run behavior_path_planner with gdb Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Revert "[TMP] run behavior_path_planner with gdb" This reverts commit b291af4. --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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tkimura4
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Jul 7, 2023
…mic drivable area expansion (autowarefoundation#4163) (#650) * Add a test for the calculateDistanceLimit function * Remove use of boost::geometry::within to improve performance * [TMP] run behavior_path_planner with gdb * Revert "[TMP] run behavior_path_planner with gdb" This reverts commit b291af4. --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
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Description
This PR reduces the cost of running the dynamic drivable area expansion.
Currently, the calculations are very heavy and do not scale well with the number of "uncrossable lines".
This PR improves the performances but do not completely solve the scaling issue.
Tests performed
Tested in Psim.
Effects on system behavior
Running the dynamic drivable area expansion is less expensive, but the precision is reduced and the drivable area may slightly cross some lines we do not want to cross (e.g., road borders).
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