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rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
BSD 3-Clause "New" or "Revised" License
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switch to non-pointer containers of people and groups in `HuberoPlanner` to avoid excessive calls in cost functions #97

Closed rayvburn closed 1 year ago

rayvburn commented 1 year ago

Switching to non-ptr approach in HuberoPlanner will allow to pass object references in ctor and omit such calls:

    // update cost function with the people detections dataset
    heading_disturbance_costs_.setPeopleDetections(*people_);
    personal_space_costs_.setPeopleDetections(*people_);
    fformation_space_costs_.setFformationsDetections(*groups_);
    passing_speed_costs_.setPeopleDetections(*people_);