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@bradygm
bradygm committed Nov 22, 2023
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Expand Up @@ -86,13 +86,15 @@ bool valid = trochoids::get_trochoid_path(start_state, goal_state, trochoid_path
## Citation
If you find this work useful, please cite our paper:
```
```BibTeX
@article{moon2023timeoptimal,
title={Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification},
author={Brady Moon and Sagar Sachdev and Junbin Yuan and Sebastian Scherer},
year={2023},
eprint={2306.11845},
archivePrefix={arXiv},
primaryClass={cs.RO}
title={Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification},
author={Brady Moon and Sagar Sachdev and Junbin Yuan and Sebastian Scherer},
year={2023},
journal = {IEEE Robotics and Automation Letters},
publisher = {IEEE},
doi = {10.1109/LRA.2023.3333167},
url = {https://arxiv.org/pdf/2306.11845.pdf},
video = {https://youtu.be/qOU5gI7JshI}
}
```

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Benchmark

Benchmark suite Current: 2167877 Previous: 59c7a78 Ratio
BM_Get_Path_Extend_Straight_Numerical 3852.60525351923 ns/iter 3683.229033359001 ns/iter 1.05
BM_Get_Path_Extend_Straight_Analytical 3701.1931046501163 ns/iter 3590.9307670417393 ns/iter 1.03
BM_Get_Path_Extend_Circle_Numerical 32319.14979662441 ns/iter 31797.481997407922 ns/iter 1.02
BM_Get_Path_Extend_Circle_Analytical 32477.112168816082 ns/iter 31751.791624295038 ns/iter 1.02
BM_Get_Path_Max_Kappa_Limit_Numerical 14502.094620018628 ns/iter 14345.032008783815 ns/iter 1.01
BM_Get_Path_Max_Kappa_Limit_Analytical 14374.751021862761 ns/iter 14244.0656602665 ns/iter 1.01
BM_Get_Path_Large_Radius_Slow_Numerical 32185.76735722292 ns/iter 32232.067547587474 ns/iter 1.00
BM_Get_Path_Large_Radius_Slow_Analytical 32534.65825774708 ns/iter 31704.30564386097 ns/iter 1.03
BM_Get_Path_RSR_Numerical 10762.822467113736 ns/iter 10623.114478472073 ns/iter 1.01
BM_Get_Path_RSR_Analytical 10644.578075226462 ns/iter 10554.969070149167 ns/iter 1.01
BM_Get_Path_RSL_Numerical 11776.57043299454 ns/iter 11645.516970123863 ns/iter 1.01
BM_Get_Path_RSL_Analytical 11658.374273682517 ns/iter 11571.92516806997 ns/iter 1.01
BM_Get_Path_Large_Radius_Analytical_Wind 3755976.3225806793 ns/iter 3767834.347826083 ns/iter 1.00
BM_Get_Path_Max_Kappa_Limit_Analytical_Wind 3775780.6363636535 ns/iter 3751694.8074867553 ns/iter 1.01
BM_Get_Path_Large_Radius_Slow_Analytical_Wind 3743785.3368983376 ns/iter 3748684.839572227 ns/iter 1.00
BM_GetTrochoid_no_classification 2199965.5874999748 ns/iter 2183581.359374997 ns/iter 1.01
BM_GetTrochoid_with_classification 1049443.225225216 ns/iter 1054600.1724138255 ns/iter 1.00
BM_Dubins_Random_Exhaustive 1032.3631979317342 ns/iter 1041.967378366193 ns/iter 0.99
BM_Dubins_Random_Classification 549.266140058067 ns/iter 551.7865393339833 ns/iter 1.00
BM_Dubins_a12 659.9687464898798 ns/iter 661.0581155446293 ns/iter 1.00
BM_Dubins_a12_random 438.7013467811811 ns/iter 440.5784518328139 ns/iter 1.00
BM_Dubins_a22 660.6000343715336 ns/iter 660.5071494565616 ns/iter 1.00
BM_Dubins_a22_random 434.3485546987143 ns/iter 439.5370416043098 ns/iter 0.99

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Benchmark

Benchmark suite Current: 2167877 Previous: 59c7a78 Ratio
BM_Get_Path_Extend_Straight_Numerical 3841.69070598851 ns/iter 3683.229033359001 ns/iter 1.04
BM_Get_Path_Extend_Straight_Analytical 3671.6616222060798 ns/iter 3590.9307670417393 ns/iter 1.02
BM_Get_Path_Extend_Circle_Numerical 32517.40743525864 ns/iter 31797.481997407922 ns/iter 1.02
BM_Get_Path_Extend_Circle_Analytical 32310.4041821693 ns/iter 31751.791624295038 ns/iter 1.02
BM_Get_Path_Max_Kappa_Limit_Numerical 15279.030748287463 ns/iter 14345.032008783815 ns/iter 1.07
BM_Get_Path_Max_Kappa_Limit_Analytical 14449.744443498219 ns/iter 14244.0656602665 ns/iter 1.01
BM_Get_Path_Large_Radius_Slow_Numerical 33894.35191030263 ns/iter 32232.067547587474 ns/iter 1.05
BM_Get_Path_Large_Radius_Slow_Analytical 32335.947403117654 ns/iter 31704.30564386097 ns/iter 1.02
BM_Get_Path_RSR_Numerical 10792.613010125835 ns/iter 10623.114478472073 ns/iter 1.02
BM_Get_Path_RSR_Analytical 10692.711847207063 ns/iter 10554.969070149167 ns/iter 1.01
BM_Get_Path_RSL_Numerical 11843.11032005016 ns/iter 11645.516970123863 ns/iter 1.02
BM_Get_Path_RSL_Analytical 11724.029273100696 ns/iter 11571.92516806997 ns/iter 1.01
BM_Get_Path_Large_Radius_Analytical_Wind 3792588.999999985 ns/iter 3767834.347826083 ns/iter 1.01
BM_Get_Path_Max_Kappa_Limit_Analytical_Wind 3750245.9358288306 ns/iter 3751694.8074867553 ns/iter 1.00
BM_Get_Path_Large_Radius_Slow_Analytical_Wind 3765818.470588266 ns/iter 3748684.839572227 ns/iter 1.00
BM_GetTrochoid_no_classification 2183667.340625028 ns/iter 2183581.359374997 ns/iter 1.00
BM_GetTrochoid_with_classification 1049097.661169411 ns/iter 1054600.1724138255 ns/iter 0.99
BM_Dubins_Random_Exhaustive 1044.2397064861116 ns/iter 1041.967378366193 ns/iter 1.00
BM_Dubins_Random_Classification 552.1827109034059 ns/iter 551.7865393339833 ns/iter 1.00
BM_Dubins_a12 669.3809702350441 ns/iter 661.0581155446293 ns/iter 1.01
BM_Dubins_a12_random 440.2010597323735 ns/iter 440.5784518328139 ns/iter 1.00
BM_Dubins_a22 684.9587626233456 ns/iter 660.5071494565616 ns/iter 1.04
BM_Dubins_a22_random 436.40292540255234 ns/iter 439.5370416043098 ns/iter 0.99

This comment was automatically generated by workflow using github-action-benchmark.

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