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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
Apache License 2.0
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perf(motion_velocity_planner): resample trajectory after vel smoothing #7732

Closed maxime-clem closed 3 months ago

maxime-clem commented 3 months ago

Description

Improve performance issue (esp. with the out_of_lane module) caused by the very high number of points in the trajectory after velocity smoothing (easily around 3500 points). This PR adds a resampling to limit the number of points in the trajectory and reduce the performance issues.

This reverts https://github.com/autowarefoundation/autoware.universe/pull/7691

Related links

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How was this PR tested?

Psim Evaluator

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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codecov[bot] commented 3 months ago

Codecov Report

Attention: Patch coverage is 52.94118% with 8 lines in your changes missing coverage. Please review.

Project coverage is 11.34%. Comparing base (507e3f4) to head (0dd449c). Report is 176 commits behind head on main.

Files Patch % Lines
...ty_limiter_module/src/trajectory_preprocessing.cpp 20.00% 6 Missing and 2 partials :warning:
Additional details and impacted files ```diff @@ Coverage Diff @@ ## main #7732 +/- ## =========================================== - Coverage 14.84% 11.34% -3.51% =========================================== Files 1999 195 -1804 Lines 139163 17009 -122154 Branches 43716 3077 -40639 =========================================== - Hits 20661 1929 -18732 + Misses 95731 14711 -81020 + Partials 22771 369 -22402 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7732/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7732/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `11.34% <52.94%> (?)` | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/7732/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `?` | |

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