Improve sumo map query performance.

huawei-noah / SMARTS

Scalable Multi-Agent RL Training School for Autonomous Driving

MIT License

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Improve sumo map query performance. #2138

Closed Gamenot closed 8 months ago

Gamenot commented 8 months ago

This improves the performance of SUMO roadmap calls (at the cost of some additional memory). Lane distance related calls are taking a high toll on simulation.

[x] Improve performance of {nearest_lanes|nearest_lane}()
[x] Improve performance of offset_along_lane()
[x] Plan generalized query caching.