Efficient computing of closest edges in localisation.

LCAS / topological_navigation

The topological navigation framework

Apache License 2.0

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Efficient computing of closest edges in localisation. #89

Closed adambinch closed 3 years ago

adambinch commented 3 years ago

Vectorised the toponav version of point2line, such that localisation can pass it a numpy array of edges (an array of vectors) and get it to return the distances to every edge in the map at once.

Jailander commented 3 years ago

Yes this is very important just don't like the Param name is not very descriptive despite being long, how about /.../calc_edge_dist_to_nnodes

adambinch commented 3 years ago

Sure that sounds better will change it 👍

adambinch commented 3 years ago

Confirmed to have massive benefits to speed (pub rate) and CPU usage.