Code optimizations - Githubissues

SteveMacenski / navigation2

ROS2 Navigation

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Code optimizations #46

Closed SteveMacenski closed 4 years ago

SteveMacenski commented 4 years ago

Precompute

[ ] precompute the dubin/reeds-shepp distances for use in heuristic (probably shouldn't do since no static graph anymore on initialization)
[ ] if exact increments of theta, we can precompute the getProjections for all bins.
[ ] if exact increments of theta, we can precompute the footprint collision detection rotations.

Parallelize

[ ] parallelize collision checking in analytic expansion
[ ] parallelize collision checking lines
[ ] parallelize 3 neighbor find/validate/expand (I dont think 3 is enough to parallelize and be effective with overhead)

General

[ ] find ways to minimize the number of nodes expanded (motion models move more? lower costmap resolution? hueristics drive better, etc)
[ ] profile code and see where we can make things faster.
[ ] remove compute of heuristic twice in each node on visitation (e.g. #45)

SteveMacenski commented 4 years ago

Moved to home repo https://github.com/ros-planning/navigation2/issues/2014