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faster removeOverlapPoints and calcLateralOffset functions
Signed-off-by: Owen-Liuyuxuan <[email protected]>
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Owen-Liuyuxuan
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Dec 11, 2023
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common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp
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// Copyright 2023 TIER IV, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include "motion_utils/trajectory/trajectory.hpp" | ||
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#include <gtest/gtest.h> | ||
#include <gtest/internal/gtest-port.h> | ||
#include <tf2/LinearMath/Quaternion.h> | ||
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#include <random> | ||
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namespace | ||
{ | ||
using autoware_auto_planning_msgs::msg::Trajectory; | ||
using tier4_autoware_utils::createPoint; | ||
using tier4_autoware_utils::createQuaternionFromRPY; | ||
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constexpr double epsilon = 1e-6; | ||
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geometry_msgs::msg::Pose createPose( | ||
double x, double y, double z, double roll, double pitch, double yaw) | ||
{ | ||
geometry_msgs::msg::Pose p; | ||
p.position = createPoint(x, y, z); | ||
p.orientation = createQuaternionFromRPY(roll, pitch, yaw); | ||
return p; | ||
} | ||
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template <class T> | ||
T generateTestTrajectory( | ||
const size_t num_points, const double point_interval, const double vel = 0.0, | ||
const double init_theta = 0.0, const double delta_theta = 0.0) | ||
{ | ||
using Point = typename T::_points_type::value_type; | ||
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T traj; | ||
for (size_t i = 0; i < num_points; ++i) { | ||
const double theta = init_theta + i * delta_theta; | ||
const double x = i * point_interval * std::cos(theta); | ||
const double y = i * point_interval * std::sin(theta); | ||
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Point p; | ||
p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); | ||
p.longitudinal_velocity_mps = vel; | ||
traj.points.push_back(p); | ||
} | ||
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return traj; | ||
} | ||
} // namespace | ||
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TEST(trajectory_benchmark, DISABLED_calcLateralOffset) | ||
{ | ||
std::random_device r; | ||
std::default_random_engine e1(r()); | ||
std::uniform_real_distribution<double> uniform_dist(0.0, 1000.0); | ||
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using motion_utils::calcLateralOffset; | ||
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const auto traj = generateTestTrajectory<Trajectory>(1000, 1.0, 0.0, 0.0, 0.1); | ||
constexpr auto nb_iteration = 10000; | ||
for (auto i = 0; i < nb_iteration; ++i) { | ||
const auto point = createPoint(uniform_dist(e1), uniform_dist(e1), 0.0); | ||
calcLateralOffset(traj.points, point); | ||
} | ||
} |