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navfn : fix performance issue #4945

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Merged
merged 1 commit into from
Mar 28, 2025
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navfn : fix performance issue #4945

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12 changes: 7 additions & 5 deletions nav2_navfn_planner/src/navfn_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -293,11 +293,13 @@
p.position.x = goal.position.x - tolerance;
while (p.position.x <= goal.position.x + tolerance) {
potential = getPointPotential(p.position);
double sdist = squared_distance(p, goal);
if (potential < POT_HIGH && sdist < best_sdist) {
best_sdist = sdist;
best_pose = p;
found_legal = true;
if (potential < POT_HIGH) {

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nav2_navfn_planner/src/navfn_planner.cpp#L296 

Added line #L296 was not covered by tests
double sdist = squared_distance(p, goal);
if (sdist < best_sdist) {

Check warning on line 298 in nav2_navfn_planner/src/navfn_planner.cpp

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nav2_navfn_planner/src/navfn_planner.cpp#L298 

Added line #L298 was not covered by tests
best_sdist = sdist;
best_pose = p;

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nav2_navfn_planner/src/navfn_planner.cpp#L300 

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found_legal = true;
}
}
p.position.x += resolution;
}
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