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perf(goal_planner): remove unnecessary call to setMap on freespace planning #9644

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Dec 16, 2024
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perf(goal_planner): remove unnecessary call to setMap on freespace planning #9644

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7 changes: 4 additions & 3 deletions ...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include "autoware/behavior_path_goal_planner_module/decision_state.hpp"
#include "autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp"
#include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp"
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp"
#include "autoware/behavior_path_goal_planner_module/thread_data.hpp"
#include "autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp"
#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
Expand Down Expand Up @@ -151,7 +152,7 @@ bool checkOccupancyGridCollision(
// freespace parking
std::optional<PullOverPath> planFreespacePath(
const FreespaceParkingRequest & req, const PredictedObjects & static_target_objects,
std::shared_ptr<PullOverPlannerBase> freespace_planner);
std::shared_ptr<FreespacePullOver> freespace_planner);

bool isStopped(
std::deque<nav_msgs::msg::Odometry::ConstSharedPtr> & odometry_buffer,
Expand Down Expand Up @@ -198,7 +199,7 @@ class FreespaceParkingPlanner
std::mutex & freespace_parking_mutex, const std::optional<FreespaceParkingRequest> & request,
FreespaceParkingResponse & response, std::atomic<bool> & is_freespace_parking_cb_running,
const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock,
const std::shared_ptr<PullOverPlannerBase> freespace_planner)
const std::shared_ptr<FreespacePullOver> freespace_planner)
: mutex_(freespace_parking_mutex),
request_(request),
response_(response),
Expand All @@ -218,7 +219,7 @@ class FreespaceParkingPlanner
rclcpp::Logger logger_;
rclcpp::Clock::SharedPtr clock_;

std::shared_ptr<PullOverPlannerBase> freespace_planner_;
std::shared_ptr<FreespacePullOver> freespace_planner_;

bool isStuck(
const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects,
Expand Down
2 changes: 2 additions & 0 deletions ...lude/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@ class FreespacePullOver : public PullOverPlannerBase

PullOverPlannerType getPlannerType() const override { return PullOverPlannerType::FREESPACE; }

void setMap(const nav_msgs::msg::OccupancyGrid & costmap) { planner_->setMap(costmap); }

std::optional<PullOverPath> plan(
const GoalCandidate & modified_goal_pose, const size_t id,
const std::shared_ptr<const PlannerData> planner_data,
Expand Down
7 changes: 3 additions & 4 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1865 to 1866, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -16,7 +16,6 @@

#include "autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
#include "autoware/behavior_path_goal_planner_module/goal_searcher.hpp"
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp"
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp"
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp"
Expand Down Expand Up @@ -225,7 +224,7 @@

std::optional<PullOverPath> planFreespacePath(
const FreespaceParkingRequest & req, const PredictedObjects & static_target_objects,
std::shared_ptr<PullOverPlannerBase> freespace_planner)
std::shared_ptr<FreespacePullOver> freespace_planner)
{
auto goal_candidates = req.goal_candidates_;
auto goal_searcher = std::make_shared<GoalSearcher>(req.parameters_, req.vehicle_footprint_);
Expand All @@ -238,8 +237,8 @@
if (!goal_candidate.is_safe) {
continue;
}
// TODO(soblin): this calls setMap() in freespace_planner in the for-loop, which is very
// inefficient

freespace_planner->setMap(*(req.get_planner_data()->costmap));
const auto freespace_path = freespace_planner->plan(
goal_candidate, 0, req.get_planner_data(), BehaviorModuleOutput{}
// NOTE: not used so passing {} is OK
Expand Down
2 changes: 0 additions & 2 deletions .../autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp
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Expand Up @@ -64,8 +64,6 @@ std::optional<PullOverPath> FreespacePullOver::plan(
{
const Pose & current_pose = planner_data->self_odometry->pose.pose;

planner_->setMap(*planner_data->costmap);

// offset goal pose to make straight path near goal for improving parking precision
// todo: support straight path when using back
constexpr double straight_distance = 1.0;
Expand Down
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