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Optimize ICP nearest_neighbor_assosiation #243

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goktug97 wants to merge 4 commits into from
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Optimize ICP nearest_neighbor_assosiation #243

goktug97 wants to merge 4 commits into from

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@goktug97
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@goktug97 goktug97 commented Oct 25, 2019

Vectorize nearest_neighbor_assosiation.
It took avarage 0.02 seconds for 3000->3000 points.

                   -`                    goktug@Goktug
                  .o+`                   -------------
                 `ooo/                   OS: Arch Linux x86_64
                `+oooo:                  Host: 23257R2 ThinkPad X230
               `+oooooo:                 Kernel: 5.3.7-arch1-1-ARCH
               -+oooooo+:                Uptime: 6 hours, 14 mins
             `/:-:++oooo+:               Packages: 1961 (pacman)
            `/++++/+++++++:              Shell: zsh 5.7.1
           `/++++++++++++++:             Resolution: 1366x768
          `/+++ooooooooooooo/`           WM: i3
         ./ooosssso++osssssso+`          Theme: Arc-Dark [GTK2/3]
        .oossssso-````/ossssss+`         Icons: Xenlism-Wildfire-SaturDay [GTK2/3]
       -osssssso.      :ssssssso.        Terminal: st
      :osssssss/        osssso+++.       Terminal Font: Fira Code
     /ossssssss/        +ssssooo/-       CPU: Intel i5-3320M (4) @ 3.300GHz
   `/ossssso+/:-        -:/+osssso+-     GPU: Intel 3rd Gen Core processor Graphics Controller
  `+sso+:-`                 `.-/+oso:    Memory: 2952MiB / 7663MiB
 `++:.                           `-/+/
 .`                                 `/

@goktug97
Fix wrong rotation direction
692b7bd 
- The obstacle rotation for the rectangle obstacle calculation
is wrong. It should be positive instead of negative.
@goktug97
change resampling calculation to match with the book
9f41023
@goktug97
condition check is moved
7a1784a 
condition check is moved from the inside of the resampling function
to the outside of the function, this way the purpose of the
function is much clear. Instead "resampling" every iteration,
resample if the condition holds.
@goktug97
optimize nearest_neighbor_assosiation
6bfb312
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coveralls commented Oct 25, 2019

Pull Request Test Coverage Report for Build 1055

  • 17 of 17 (100.0%) changed or added relevant lines in 3 files are covered.
  • 6 unchanged lines in 2 files lost coverage.
  • Overall coverage decreased (-0.09%) to 90.263%
Files with Coverage Reduction New Missed Lines %
PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py 2 91.14%
PathPlanning/ClosedLoopRRTStar/pure_pursuit.py 4 92.25%
Totals Coverage Status
Change from base Build 1051: -0.09%
Covered Lines: 6721
Relevant Lines: 7446
💛 - Coveralls

@goktug97 goktug97 closed this Oct 25, 2019
@goktug97 goktug97 deleted the icp_optimize branch October 25, 2019 12:31
@goktug97 goktug97 restored the icp_optimize branch October 25, 2019 12:32
@goktug97 goktug97 deleted the icp_optimize branch October 25, 2019 12:34
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