Const and preallocation based optimizations and cleanup

mit-acl / rmader

Decentralized Multiagent Trajectory Planner Robust to Communication Delay

https://arxiv.org/abs/2303.06222

BSD 3-Clause "New" or "Revised" License

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Const and preallocation based optimizations and cleanup #6

Open SJamieson opened 1 year ago

SJamieson commented 1 year ago

These should be pretty safe to merge, but the changes do make quite a few functions const and makes some variables mutable --- let me know if you'd prefer I drop those changes and focus only on convexHullsOfCurves

SJamieson commented 1 year ago

I have confirmed that the default 10-agent simulation still runs fine with these changes