AtsushiSakai/PythonRobotics

Improve Performance

Closed this issue · 5 comments

AryazE commented

https://github.com/AtsushiSakai/PythonRobotics/blob/ad600cd9023e67cd8064b678213d6586d076dd15/PathPlanning/AStar/a_star_searching_from_two_side.py#L80C1-L117C20

In the above function the search for coordinates and neighbors in ob_list and neighbors happens very often, specially for long obstacles.
It would be more efficient to store the obstacles and neighbors in a set as the lookup is done by a hashmap instead of a linear search.

prajwal2431 commented

is this issue still open i want to contribute to this issue

AtsushiSakai commented

PR is welcome.

Mritunjaii commented

@AtsushiSakai can you assign me

AtsushiSakai commented

no need to assign. please create a PR.