Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

reduce the memory consumed by the inflation layer #40

Merged
merged 4 commits into from
Jun 12, 2024
+39 −47
Merged

reduce the memory consumed by the inflation layer #40

Changes from 1 commit
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
75c8fb5
reduce the memory consumed by the inflation layer
facontidavide Jun 12, 2024
caa8418
formatting
facontidavide Jun 12, 2024
ecd982d
remove redundant CellData::index_
facontidavide Jun 12, 2024
b41e6bf
format
facontidavide Jun 12, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 6 additions & 9 deletions nav2_costmap_2d/plugins/inflation_layer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -230,6 +230,7 @@ InflationLayer::updateCosts(

// Start with lethal obstacles: by definition distance is 0.0
auto & obs_bin = inflation_cells_[0];
obs_bin.reserve(200);
for (int j = min_j; j < max_j; j++) {
for (int i = min_i; i < max_i; i++) {
int index = static_cast<int>(master_grid.getIndex(i, j));
Expand All @@ -243,7 +244,8 @@ InflationLayer::updateCosts(
// Process cells by increasing distance; new cells are appended to the
// corresponding distance bin, so they
// can overtake previously inserted but farther away cells
for (const auto & dist_bin : inflation_cells_) {
for (auto & dist_bin : inflation_cells_) {
dist_bin.reserve(200);
for (std::size_t i = 0; i < dist_bin.size(); ++i) {
// Do not use iterator or for-range based loops to
// iterate though dist_bin, since it's size might
Expand Down Expand Up @@ -296,11 +298,9 @@ InflationLayer::updateCosts(
enqueue(index + size_x, mx, my + 1, sx, sy);
}
}
}

for (auto & dist : inflation_cells_) {
dist.clear();
dist.reserve(200);
// This level of inflation_cells_ is not needed anymore. We can free the memory
// Note that dist_bin.clear() is not enough, because it won't free the memory
dist_bin = std::vector<CellData>();
}

current_ = true;
Expand Down Expand Up @@ -372,9 +372,6 @@ InflationLayer::computeCaches()
int max_dist = generateIntegerDistances();
inflation_cells_.clear();
inflation_cells_.resize(max_dist + 1);
for (auto & dist : inflation_cells_) {
dist.reserve(200);
}
}

int
Expand Down
Loading