RJD-1509 Filter nearest NPCs to calculate distance#48
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gmajrobotec wants to merge 2 commits intoRJD-1509/methods_optimizationfrom
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RJD-1509 Filter nearest NPCs to calculate distance#48gmajrobotec wants to merge 2 commits intoRJD-1509/methods_optimizationfrom
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simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp
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simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp
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| } | ||
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| for (const auto & [euclidean_distance, name] : euclidean_distances) { | ||
| const auto quat = math::geometry::getRotation( |
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| return false; | ||
| } | ||
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| void EntityBase::setDistances(const std::shared_ptr<EuclideanDistancesMap> & distances) |
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| distances.emplace_back(distance.value()); | ||
| if (euclidean_distances_map != nullptr) { | ||
| std::map<double, std::string> euclidean_distances; | ||
| double stopDistance = calculateStopDistance(behavior_parameter.dynamic_constraints); |
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| if ( | ||
| std::fabs(math::geometry::convertQuaternionToEulerAngle(quat).z) <= | ||
| boost::math::constants::half_pi<double>()) { | ||
| const auto distance = getDistanceToTargetEntity(spline, other_entity_status.at(name)); |
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| entities.emplace_back(name); | ||
| distances.emplace_back(distance.value()); | ||
| if (euclidean_distances_map != nullptr) { | ||
| std::map<double, std::string> euclidean_distances; |
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| distances.emplace_back(distance.value()); | ||
| if (euclidean_distances_map != nullptr) { | ||
| std::map<double, std::string> local_euclidean_distances_map; | ||
| const double stopDistance = calculateStopDistance(behavior_parameter.dynamic_constraints); |
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Description
This PR implements optimization of calculating actual distance in ActionNode::getDistanceToTargetEntity only for nearest NPCs.
Abstract
ActionNode::getDistanceToTargetEntity should calculate boundingBoxLaneLongitudinalDistance only for nearest NPC. This is done based on DistancesMap containg shortest distance between mapPose of NPCs.
Details
Destructive Changes
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Known Limitations
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References
RJD-1509