orlando21lara
commented
1 year ago The PR is failing the cpplint test, I can fix the first two errors; however the other errors are a bit more involved. They are related to google benchmark and as it stands there doesn't seem to be a way to make the code compliant with cpplint (reference). How should this be addressed? One possibility is to add a filter for that particular error (reference). The filter that we would need to add is: "-runtime/references"
fcladera
XuRobotics
This PR addresses issue #35 I refactored the VoxelMapper class to use MapUtil since there were inconsistencies in the voxel alignment between the mapper and the planner. Both now use MapUtil which implements axis-aligned voxels. I added more unit tests for the various VoxelMapper class methods and I added some more comments in the source and header files. I also attached an image showing how there is a performance increase in the methods by changing the map data type. To achieve the performance increase I also had to change the iteration order along x-y-z to make it cache friendly given the new data type. In the image you can see, for example, that the getInflatedMap method takes about 71% less time to execute.
Finally, I added some comments in the CMakelists.txt file in the mapper package indicating how to run the tests and the benchmarks. Google Benchmark is added to the mapper package when compiling via CMake's FetchContent module (it was not added directly in this repository).