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perf(costmap_generator, scenario_selector): faster getLinkedParkingLot #7257

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perf(costmap_generator, scenario_selector): faster getLinkedParkingLot #7257

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perf(costmap_generator, scenario_selector): faster getLinkedParkingLot 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
maxime-clem committed Jun 4, 2024
commit 4aa84e14031bb6e0e5dc186e08dd1dec49c11325
4 changes: 1 addition & 3 deletions planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
View file
Original file line number Diff line number Diff line change
@@ -95,11 +95,9 @@ std::shared_ptr<lanelet::ConstPolygon3d> findNearestParkinglot(
const std::shared_ptr<lanelet::LaneletMap> & lanelet_map_ptr,
const lanelet::BasicPoint2d & current_position)
{
const auto all_parking_lots = lanelet::utils::query::getAllParkingLots(lanelet_map_ptr);

const auto linked_parking_lot = std::make_shared<lanelet::ConstPolygon3d>();
const auto result = lanelet::utils::query::getLinkedParkingLot(
current_position, all_parking_lots, linked_parking_lot.get());
current_position, lanelet_map_ptr, linked_parking_lot.get());

if (result) {
return linked_parking_lot;
4 changes: 1 addition & 3 deletions planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
View file
Original file line number Diff line number Diff line change
@@ -41,11 +41,9 @@ std::shared_ptr<lanelet::ConstPolygon3d> findNearestParkinglot(
const std::shared_ptr<lanelet::LaneletMap> & lanelet_map_ptr,
const lanelet::BasicPoint2d & current_position)
{
const auto all_parking_lots = lanelet::utils::query::getAllParkingLots(lanelet_map_ptr);

const auto linked_parking_lot = std::make_shared<lanelet::ConstPolygon3d>();
const auto result = lanelet::utils::query::getLinkedParkingLot(
current_position, all_parking_lots, linked_parking_lot.get());
current_position, lanelet_map_ptr, linked_parking_lot.get());

if (result) {
return linked_parking_lot;