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even faster costmap#34

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renan028 merged 3 commits intorr-develfrom
origin/even_faster_costmap
Mar 19, 2021
Merged

even faster costmap#34
renan028 merged 3 commits intorr-develfrom
origin/even_faster_costmap

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@renan028
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  • This is an old PR by @corot
  • It is an improvement of performance just by changing map to vector
  • I have tested it in Taisei and I got a reduction of 61.5% to 27.8% CPU usage
    Running Taisei in rr_devel branch (executing a go-to task):
    mbf_2

Running Taisei in even_faster_costmap (executing same task, same goal):
mbf_corot_2

@renan028 renan028 requested a review from corot March 18, 2021 07:08
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@corot corot left a comment

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Idea (out of the scope of this PR): we should try to re-sync with the upstream

@renan028 renan028 requested review from Oszkar and athish-t March 18, 2021 23:20
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@Oszkar Oszkar left a comment

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Looks great

@renan028 renan028 merged commit f0009aa into rr-devel Mar 19, 2021
@renan028 renan028 deleted the origin/even_faster_costmap branch March 19, 2021 03:24
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3 participants