16.3.2
Description
In ActionNode used methods distance::boundingBoxLaneLongitudinalDistance and CatmullRomSpline::getCollisionPointIn2D can be optimized.
Abstract
In ActionNode::getDistanceToTargetEntity needs boundingBoxLaneLongitudinalDistance and longitudinalDistance, both are calculated with boundingBoxLaneLongitudinalDistance, but only one is returned.
In ActionNode::getDistanceToTargetEntity CatmullRomSpline::getCollisionPointIn2D check all length of spline for collision points, knowing longitudinalDistance to conflicting entity we can check only small part of it.
Details
In ActionNode::getDistanceToTargetEntity:
- use newly defined traffic_simulator::distance::boundingBoxLaneLongitudinalDistance, which gets longitudinalDistance as parameter
- use changed CatmullRomSpline::getCollisionPointIn2D with defined part of spline to check for collision
Destructive Changes
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Known Limitations
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References
tier4/sim_evaluation_tools#497 (comment)