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planner_cspace: support parallel aster search #118

Merged
merged 2 commits into from Mar 26, 2018
Merged

planner_cspace: support parallel aster search #118

merged 2 commits into from Mar 26, 2018

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at-wat
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@at-wat at-wat commented Mar 19, 2018

set planner_cspace/num_threads (int, default: 1) parameter to increase grid search threads

@at-wat at-wat self-assigned this Mar 19, 2018
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at-wat commented Mar 19, 2018

FAILED

catkin_make failed

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at-wat commented Mar 19, 2018

PASSED

All tests passed

Skipping "src/neonavigation/neonavigation_launch/package.xml": 'tests'
Skipping "src/neonavigation/map_organizer/package.xml": 'tests'
Skipping "src/neonavigation/safety_limiter/package.xml": 'tests'
Skipping "src/neonavigation/track_odometry/package.xml": 'tests'
Skipping "src/neonavigation/costmap_cspace/package.xml": 'tests'
Skipping "src/neonavigation/trajectory_tracker/package.xml": 'tests'
Skipping "src/neonavigation/obj_to_pointcloud/package.xml": 'tests'
Skipping "src/neonavigation/neonavigation/package.xml": 'tests'
Skipping "src/neonavigation/planner_cspace/package.xml": 'tests'
build/test_results/costmap_cspace/gtest-test_costmap_3d.xml: 6 tests
build/test_results/costmap_cspace/roslint-costmap_cspace.xml: 1 tests
build/test_results/map_organizer/roslint-map_organizer.xml: 1 tests
build/test_results/obj_to_pointcloud/roslint-obj_to_pointcloud.xml: 1 tests
build/test_results/planner_cspace/gtest-test_blockmem_gridmap.xml: 2 tests
build/test_results/planner_cspace/gtest-test_blockmem_gridmap_performance.xml: 1 tests
build/test_results/planner_cspace/gtest-test_cyclic_vec.xml: 7 tests
build/test_results/planner_cspace/roslint-planner_cspace.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_abort_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_rostest.xml: 1 tests
build/test_results/planner_cspace/rosunit-test_abort.xml: 1 tests
build/test_results/planner_cspace/rosunit-test_navigate.xml: 1 tests
build/test_results/safety_limiter/roslint-safety_limiter.xml: 1 tests
build/test_results/track_odometry/gtest-tf_projection_test.xml: 1 tests
build/test_results/track_odometry/roslint-track_odometry.xml: 1 tests
build/test_results/trajectory_tracker/roslint-trajectory_tracker.xml: 1 tests
Summary: 28 tests, 0 errors, 0 failures, 0 skipped

@at-wat at-wat mentioned this pull request Mar 19, 2018
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@at-wat at-wat merged commit dff7786 into master Mar 26, 2018
@at-wat at-wat deleted the planner_cspace/parallel-astar-search branch March 26, 2018 10:50
at-wat
at-wat commented Apr 5, 2018
View reviewed changes
planner_cspace/include/grid_astar.h
float cost = cb_cost(p, next, s, e);
if (cost < 0 || cost == FLT_MAX)
continue;
#pragma omp parallel for schedule(static)
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not here but https://github.com/at-wat/neonavigation/pull/118/files#diff-edd86ae29de39b051a426a10b6dc22bfR209

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#125

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