Collision Checking Performance Improvement #15
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Levi-Armstrong
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jrgnicho
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Jul 11, 2019
…-robotics#15) * Add checkTrajectory for discrete collision check * Add discrete collision check to trajopt_planner And return false if error code is negative * Fix checkTrajectory
Levi-Armstrong
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* Add checkTrajectory for discrete collision check * Add discrete collision check to trajopt_planner And return false if error code is negative * Fix checkTrajectory
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This change is significant in how collision checking will be handled going forwards. The current implementation will create a collision manager every time a collision check is requested. This is very expensive computationally during trajectory planning. This was required to provide a const method for making collision requests.
The new approach moves away from providing collision methods at the environment class but provides a method for requesting a collision manager which is copy of the existing environment at that point in time. This is usually all that is needed for trajectory planning, but I may add the ability to provided a callback when requesting the collision manager to be notified if the environment changes (Open to sugesstions).
In providing this you can know perform multiple collision checks without recreating the manager each time. Although for multi-threaded application you will need to use the clone method for every thread because the manager is not thread safe. The reasoning behind this is in most cases you will perform significantly more collision checks versus threads.
Current testing shows about 2x improvement when comparing to existing ROS motion planning environments.
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