perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (

#7930) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
autowarefoundation · Jul 22, 2024 · cfbd0cf · cfbd0cf
1 parent 802d05d
commit cfbd0cf
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Showing 2 changed files with 2 additions and 6 deletions.
diff --git a/...ng/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp b/...ng/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp
@@ -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;

diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp
@@ -37,11 +37,9 @@ 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;