Optimize time optimal planning performance

ekumenlabs / safe-control-gym

MIT License

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Closed hidmic closed 2 years ago

hidmic commented 2 years ago

No need to merge this now, but it reduces planning times 5 to 6x.

glpuga commented 2 years ago

Nice!! If it passes the "100 episodes, did not crash, did not hit affect flight performance" litmus tests, I'm good to merge it.

glpuga commented 2 years ago

But I agree that it's a bit adventurous at this stage xD

hidmic commented 2 years ago

flight_time_distribution

Same number of collisions and constraint violations.