perf(drivable area expansion): use faster lateral offset and nearest line calculations #960
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maxime-clem
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rej55,
kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
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TakaHoribe,
takayuki5168,
tkimura4 and
zulfaqar-azmi-t4
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maxime-clem
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
This reverts commit f1085cb.
This reverts commit 37ba0a7.
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
This reverts commit f4c9953.
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takayuki5168
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Oct 23, 2023
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Description
This PR improves the performance of the two heaviest function of the dynamic drivable area expansion feature.
AWF PR: autowarefoundation#5349
Tests performed
Psim
Evaluator: https://evaluation.tier4.jp/evaluation/reports/fe916395-fa5c-5497-a3e4-612d519cb149?project_id=x2_dev
Effects on system behavior
The runtime of the
behavior_path_plannershould be greatly reduced when using the dynamic drivable area expansion.Pre-review checklist for the PR author
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