bubnikv 60528c5c2a Performance improvements of the MotionPlanner ...

(rewrote the Dijkstra shortest path algorithm to use a binary priority
heap instead of a dumb O(n^2) algorithm, added some bounding box tests
to avoid expensive in-polygon tests if possible).

2017-05-05 09:59:56 +02:00

4.3 KiB

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