Downsampling the same trajectory over and over again

[smk-robotics]

There is a huge waste of resources in the autoware_motion_utils calcLateralOffset method. There is a removeOverlapPoints method which is called hundred of times for the same reference trajectory over and over again. Downsampling and removing overlapping point should be done before calling the calcLateralOffset method (or calcYawDeviation).

I suggest to remove removeOverlapPoints call from:

1. autoware::motion_utils::calcLateralOffset
2. autoware::motion_utils::calcYawDeviation
3. autoware::motion_utils::calcLongitudinalOffsetToSegment

Downsampling and overlapping suppose to be called only once before calling these methods inside for loops. Example: calc_max_lateral_distance method in the control_validator_package.

Link to the line I suggest to remove to save resources and speed up the process:

autoware_core/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp

Line 659 in 9fe7ac2

const auto overlap_removed_points = removeOverlapPoints(points, 0);

[yhisaki]

Thank you for your feedback👍😊 You are absolutely right that, from a performance perspective, calling removeOverlapPoints every time is not ideal. However, we prioritize safety over performance. If this function is removed, we are concerned that users of motion_utils may forget to call removeOverlapPoints.

Have you measured the impact of this function on performance? If the impact is significant, we will consider appropriate countermeasures.

[smk-robotics]

Thank you for your feedback👍😊 You are absolutely right that, from a performance perspective, calling removeOverlapPoints every time is not ideal. However, we prioritize safety over performance. If this function is removed, we are concerned that users of motion_utils may forget to call removeOverlapPoints.

Have you measured the impact of this function on performance? If the impact is significant, we will consider appropriate countermeasures.

Thanks for the response! I will try to compare the performance and let you know about the results.