Added threadpool to laser plugin, fixed bug with plugin enabled param… #47
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josephduchesne
commented
Jun 6, 2018
josephduchesne
commented
- added threadpool to laser plugin (~5x speedup of flatland on 4C/8T i7-4790k)
- fixed bug with plugin enabled parameter
- added better documentation about third party libraries and licenses used
- bumped version number to 1.1.1
josephduchesne
requested review from
kubuqi,
lichunshang,
cmperezg,
junechoi93 and
szinn
lichunshang
approved these changes
Jun 6, 2018
| laser_point.y = m_world_laser_points_(1, i); | ||
| LaserCallback cb(this); | ||
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| GetModel()->GetPhysicsWorld()->RayCast(&cb, laser_origin_point, |
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I guess this is thread safe?
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I looked into it and it doesn't seem to modify the physics world state at all
kubuqi
reviewed
Jun 6, 2018
flatland_plugins/src/laser.cpp
Outdated
| return std::make_pair<double, double>(NAN, 0); | ||
| } else { | ||
| return std::make_pair<double, double>( | ||
| cb.fraction_ * this->range_ + this->noise_gen_(this->rng_), |
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std::normal_distribution might not be thread safe. Is it possible to move this noise generator to cb object so that nobody shares it?
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I can move the noise out of the thread
kubuqi
approved these changes
Jun 6, 2018
kubuqi
reviewed
Jun 6, 2018
flatland_plugins/src/laser.cpp
Outdated
| } | ||
| }); | ||
| } | ||
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| // Unqueue all of the future'd results | ||
| for (unsigned int i = 0; i < laser_scan_.ranges.size(); ++i) { | ||
| auto result = results[i].get(); // Pull the result from the future | ||
| laser_scan_.ranges[i] = result.first; | ||
| laser_scan_.ranges[i] = result.first + this->noise_gen_(this->rng_); |
JoaoCostaIFG
pushed a commit
to JoaoCostaIFG/flatland
that referenced
this pull request
Nov 30, 2022
Added threadpool to laser plugin, fixed bug with plugin enabled param…
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