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[Smac] Robin hood data structure improves performance by 10-15%! #3201

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merged 7 commits into from
Sep 20, 2022
Merged

[Smac] Robin hood data structure improves performance by 10-15%! #3201

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f0e3656
adding robin_hood unordered_map
SteveMacenski Sep 16, 2022
573557a
using robin_hood node map
SteveMacenski Sep 19, 2022
a3de89f
Merge branch 'main' of github.com:ros-planning/navigation2 into robin…
SteveMacenski Sep 19, 2022
211bbb5
ignore robin_hood file
SteveMacenski Sep 19, 2022
2b9a3da
linting
SteveMacenski Sep 20, 2022
a4bdad2
linting cont. for triple pointers
SteveMacenski Sep 20, 2022
31f04bb
linting cont. for uncrustify
SteveMacenski Sep 20, 2022
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2 changes: 1 addition & 1 deletion nav2_simple_commander/nav2_simple_commander/robot_navigator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -331,7 +331,7 @@ def _getPathImpl(self, start, goal, planner_id='', use_start=False):

def getPath(self, start, goal, planner_id='', use_start=False):
"""Send a `ComputePathToPose` action request."""
rtn = _getPathImpl(start, goal, planner_id='', use_start=False)
rtn = self._getPathImpl(start, goal, planner_id='', use_start=False)
if not rtn:
return None
else:
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1 change: 1 addition & 0 deletions nav2_smac_planner/CMakeLists.txt
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Expand Up @@ -152,6 +152,7 @@ install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJE

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(AMENT_LINT_AUTO_FILE_EXCLUDE include/nav2_smac_planner/thirdparty/robin_hood.h)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
add_subdirectory(test)
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3 changes: 2 additions & 1 deletion nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
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Expand Up @@ -26,6 +26,7 @@

#include "nav2_costmap_2d/costmap_2d.hpp"

#include "nav2_smac_planner/thirdparty/robin_hood.h"
#include "nav2_smac_planner/analytic_expansion.hpp"
#include "nav2_smac_planner/node_2d.hpp"
#include "nav2_smac_planner/node_hybrid.hpp"
Expand All @@ -46,7 +47,7 @@ class AStarAlgorithm
{
public:
typedef NodeT * NodePtr;
typedef std::unordered_map<unsigned int, NodeT> Graph;
typedef robin_hood::unordered_node_map<unsigned int, NodeT> Graph;
typedef std::vector<NodePtr> NodeVector;
typedef std::pair<float, NodeBasic<NodeT>> NodeElement;
typedef typename NodeT::Coordinates Coordinates;
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