costmap_cspace: make Costmap3dLayerFootprint::generateCSpace faster #554
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nhatao
commented
Oct 19, 2020
•
nhatao
commented
- Raw pointers are used to get cost values without overheads.
- If-clauses are removed by using x and y ranges calculated in advance.
- CPU usage of costmap_cspace was reduced from about 75% to about 40% on our robots.
[#1546] PASSED on kineticAll tests passed[#1546] PASSED on noeticTested on Alpine ROS [#1546] PASSED on melodicAll tests passed |
Codecov Report
@@ Coverage Diff @@
## master #554 +/- ##
==========================================
- Coverage 90.93% 90.92% -0.01%
==========================================
Files 58 58
Lines 4356 4355 -1
==========================================
- Hits 3961 3960 -1
Misses 395 395
Continue to review full report at Codecov.
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nhatao
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[#1547] FAILED on kineticTest failed[#1547] FAILED on noeticTested on Alpine ROS [#1547] FAILED on melodicTest failed |
[#1548] PASSED on kineticAll tests passed[#1548] PASSED on noeticTested on Alpine ROS [#1548] PASSED on melodicAll tests passed |
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[#1555] FAILED on kineticTest failed[#1555] FAILED on noeticTested on Alpine ROS [#1555] FAILED on melodicTest failed |
[#1556] PASSED on kineticAll tests passed[#1556] PASSED on melodicAll tests passed[#1556] PASSED on noeticTested on Alpine ROS |
|
@at-wat PTAL. |
at-wat
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