Update multi goal path implementation #465
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
facebook-github-bot
added
the
CLA Signed
Codecov Report
@@ Coverage Diff @@
## master #465 +/- ##
==========================================
+ Coverage 57.81% 58.09% +0.27%
==========================================
Files 161 161
Lines 7067 7106 +39
Branches 84 84
==========================================
+ Hits 4086 4128 +42
+ Misses 2981 2978 -3
Continue to review full report at Codecov.
|
mathfac
reviewed
Jan 31, 2020
| if (testCaseInstanceId() == 0) { | ||
| setTestCaseDescription("Path to single point"); | ||
| esp::nav::ShortestPath path; | ||
| path.requestedStart = pathFinder.getRandomNavigablePoint(); |
There was a problem hiding this comment.
Does that make sense to calculate distance to the same 100 points using single shortest path search?
mathfac
approved these changes
Jan 31, 2020
| path.requestedStart.data(), closestRequestedEnd.data(), polys, numPolys, | ||
| path.points[0].data(), 0, 0, &numPoints, MAX_POLYS); | ||
| for (int i = 0; i < path.requestedEnds.size(); ++i) { | ||
| if ((path.requestedStart - path.requestedEnds[i]).norm() > |
There was a problem hiding this comment.
As I understand this check is selecting prospect end points that can be closer that path.geodesicDistance
|
Merging to unblock facebookresearch/habitat-lab#290. |
Ram81
pushed a commit
to Ram81/habitat-web-sim
that referenced
this pull request
Dec 10, 2020
The multigoal path implementation was relying on being able to compare path lengths on the navigation mesh before optimization, this turns out to be not correct a little too often. This PR changes it to be simply min(A* paths).
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Motivation and Context
The multigoal path implementation was relying on being able to compare path lengths on the navigation mesh before optimization, this turns out to be not correct a little too often. This PR changes it to be simply min(A* paths).
This also has the benefit of removing on our deviations from recast main!
How Has This Been Tested
With the test! Also added a benchmark because Corrade's test suite is fun.
Types of changes