[Feature] seidel solver(cython) solves 1D LP when possible.

hungpham2511 / toppra

robotic motion planning library

https://hungpham2511.github.io/toppra/index.html

MIT License

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[Feature] seidel solver(cython) solves 1D LP when possible. #223

Closed ompugao closed 1 year ago

ompugao commented 1 year ago

Fixes: https://github.com/hungpham2511/toppra/blob/a35f2de47087d962224ba9ffc73501c7b22ca238/toppra/solverwrapper/cy_seidel_solverwrapper.pyx#L549

Changes in this PRs:

if solve_lp1d flag is set to > 0 and x_min == x_max, seidel solver (cython version) solves an 1D LP instead of a 2D LP.

Checklists:

[x] Update HISTORY.md with a single line describing this PR

ompugao commented 1 year ago

I got roughly 1.2~1.3x better performance for forward_step. This would be negligible for usual cases such as topp since other parts are the bottleneck, But I call self._forward_step many times (~400k) in my project and this change leads to a better performance.

hungpham2511 commented 1 year ago

Hi, look like CI is having some issue on develop so the failure is not due to your PR. I will try to find some time to fix it next week.

hungpham2511 commented 1 year ago

Thanks.