[moveit_core] PropagationDistanceField: Speed-up insertion & update #2101
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…dNorm This results in a speed-up of 25% for me for large sets of points. Before: 1248ms After: 956ms
rhaschke
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May 22, 2020
Codecov Report
@@ Coverage Diff @@
## master #2101 +/- ##
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- Coverage 57.79% 57.35% -0.45%
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Files 328 328
Lines 25664 25660 -4
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- Hits 14833 14717 -116
- Misses 10831 10943 +112
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v4hn
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May 22, 2020
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Congrats on getting your first MoveIt pull request merged and improving open source robotics! |
pradeepr-roboticist
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…dNorm (moveit#2101) This results in a speed-up of 25% for me for large sets of points. Before: 1248ms After: 956ms
v4hn
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Jul 3, 2020
…dNorm (moveit#2101) This results in a speed-up of 25% for me for large sets of points. Before: 1248ms After: 956ms (cherry picked from commit 44e98d0)
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This PR replaces
eucDistSqwith Eigen's built-insquaredNorm. This innocuous-looking change results in a speed-up of 25% for me when tested with a large set of points (benchmarked with >400k points).Before: 1248ms
After: 956ms