perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation

[yhisaki]

Description

Multiple places were found where boost::geometry::within(...) was used immediately after auto [dist, lanelet] = lanelet::geometry::findNearest(...) (especially in places using withinLanelet). However, since dist being 0 and boost::geometry::within(...) returning true are equivalent, the redundant processing was eliminated.

https://wandbox.org/permlink/u3KhRExZACGjSf5Z

This change slightly improves performance.
before

⏰ Worst Case Execution Time ⏰
objectsCallback: total 7.75 [ms], avg. 7.75 [ms], run count: 1
    ├── trafficSignalsCallback: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    ├── removeStaleTrafficLightInfo: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    ├── updateObjectData: total 0.00 [ms], avg. 0.00 [ms], run count: 19
    ├── getCurrentLanelets: total 1.17 [ms], avg. 0.06 [ms], run count: 19
    │   ├── checkCloseLaneletCondition: total 0.40 [ms], avg. 0.00 [ms], run count: 190
    │   ├── isDuplicated: total 0.00 [ms], avg. 0.00 [ms], run count: 18
    │   └── calculateLocalLikelihood: total 0.06 [ms], avg. 0.00 [ms], run count: 15
    ├── updateRoadUsersHistory: total 0.06 [ms], avg. 0.00 [ms], run count: 19
    ├── getPredictedReferencePath: total 0.29 [ms], avg. 0.06 [ms], run count: 5
    │   ├── predictObjectManeuver: total 0.07 [ms], avg. 0.01 [ms], run count: 6
    │   │   └── predictObjectManeuverByLatDiffDistance: total 0.06 [ms], avg. 0.01 [ms], run count: 6
    │   │       └── calcRightLateralOffset: total 0.00 [ms], avg. 0.00 [ms], run count: 8
    │   ├── calculateManeuverProbability: total 0.00 [ms], avg. 0.00 [ms], run count: 6
    │   └── addReferencePaths: total 0.10 [ms], avg. 0.01 [ms], run count: 18
    │       ├── updateFuturePossibleLanelets: total 0.00 [ms], avg. 0.00 [ms], run count: 9
    │       └── convertPathType: total 0.05 [ms], avg. 0.01 [ms], run count: 9
    ├── updateCrosswalkUserHistory: total 0.00 [ms], avg. 0.00 [ms], run count: 54
    └── getPredictedObjectAsCrosswalkUser: total 5.19 [ms], avg. 0.10 [ms], run count: 54
        ├── getTrafficSignalId: total 0.00 [ms], avg. 0.00 [ms], run count: 113
        ├── calcIntentionToCrossWithTrafficSignal: total 0.11 [ms], avg. 0.00 [ms], run count: 113
        │   └── getTrafficSignalElement: total 0.00 [ms], avg. 0.00 [ms], run count: 113
        └── doesPathCrossAnyFence: total 0.00 [ms], avg. 0.00 [ms], run count: 32

after

⏰ Worst Case Execution Time ⏰
objectsCallback: total 5.76 [ms], avg. 5.76 [ms], run count: 1
    ├── trafficSignalsCallback: total 0.01 [ms], avg. 0.01 [ms], run count: 1
    ├── removeStaleTrafficLightInfo: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    ├── updateObjectData: total 0.00 [ms], avg. 0.00 [ms], run count: 21
    ├── getCurrentLanelets: total 1.24 [ms], avg. 0.06 [ms], run count: 21
    │   ├── checkCloseLaneletCondition: total 0.44 [ms], avg. 0.00 [ms], run count: 210
    │   ├── isDuplicated: total 0.00 [ms], avg. 0.00 [ms], run count: 19
    │   └── calculateLocalLikelihood: total 0.04 [ms], avg. 0.00 [ms], run count: 14
    ├── updateRoadUsersHistory: total 0.07 [ms], avg. 0.00 [ms], run count: 21
    ├── getPredictedReferencePath: total 0.37 [ms], avg. 0.05 [ms], run count: 7
    │   ├── predictObjectManeuver: total 0.05 [ms], avg. 0.01 [ms], run count: 5
    │   │   └── predictObjectManeuverByLatDiffDistance: total 0.04 [ms], avg. 0.01 [ms], run count: 5
    │   │       └── calcRightLateralOffset: total 0.00 [ms], avg. 0.00 [ms], run count: 12
    │   ├── calculateManeuverProbability: total 0.00 [ms], avg. 0.00 [ms], run count: 5
    │   └── addReferencePaths: total 0.15 [ms], avg. 0.01 [ms], run count: 15
    │       ├── updateFuturePossibleLanelets: total 0.00 [ms], avg. 0.00 [ms], run count: 10
    │       └── convertPathType: total 0.09 [ms], avg. 0.01 [ms], run count: 10
    ├── updateCrosswalkUserHistory: total 0.00 [ms], avg. 0.00 [ms], run count: 41
    └── getPredictedObjectAsCrosswalkUser: total 3.19 [ms], avg. 0.08 [ms], run count: 41
        ├── getTrafficSignalId: total 0.00 [ms], avg. 0.00 [ms], run count: 88
        ├── calcIntentionToCrossWithTrafficSignal: total 0.06 [ms], avg. 0.00 [ms], run count: 88
        │   └── getTrafficSignalElement: total 0.00 [ms], avg. 0.00 [ms], run count: 88
        └── doesPathCrossAnyFence: total 0.00 [ms], avg. 0.00 [ms], run count: 15

Related links

Parent Issue:

• Link

How was this PR tested?

https://evaluation.tier4.jp/evaluation/reports/995d3b8a-1cf9-55a8-97f4-db6152dd8896?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.

Project coverage is 23.89%. Comparing base (991cb94) to head (df193b4).
Report is 3 commits behind head on main.

Files	Patch %	Lines
...based_prediction/src/map_based_prediction_node.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #8471   +/-   ##
=======================================
  Coverage   23.89%   23.89%           
=======================================
  Files        1380     1382    +2     
  Lines      101829   101810   -19     
  Branches    38779    38775    -4     
=======================================
- Hits        24333    24329    -4     
+ Misses      75033    74993   -40     
- Partials     2463     2488   +25     

Flag	Coverage Δ		*Carryforward flag
differential	2.18% <0.00%> (?)
total	23.92% <ø> (+0.03%)	⬆️	Carriedforward from 31e2027

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[ktro2828]

LGTM

[YoshiRi]

LGTM