perf: collision avoidance controller#878
Merged
Merged
Conversation
If a harvester has an insanely long course, the collision avoidance controller, while looking for an intersection between the unloader and the harvester's course, iterated until the end of the harvester's which caused significant slowdowns. Limit the lookahead for the collision avoidance controller: always start checking for intersections at the current waypoint of the unloader and the harvester, and stop looking after the lookahead distance. #871
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
If a harvester has an insanely long course, the
collision avoidance controller, while looking for an intersection between the unloader and the harvester's course, iterated until the end of the harvester's
which caused significant slowdowns.
Limit the lookahead for the collision avoidance
controller: always start checking for intersections at the current waypoint of the unloader and the
harvester, and stop looking after the lookahead
distance.
#871