Make replanning efficient
Nobody has claimed this yet.
- Dominant language
- C++
- Stars
- 27
- Forks
- 30
- PR merge metrics
- No merged PRs in 30d
Description
Feature request
Description
Each time the optimal_solve/greedy_solve methods are called, the Request::Model object for each request is initialized during which the invariant battery drain and invariant duration of the request are computed. This makes replanning slow as requests that were planned for before will still need their Models to be generated each time. To make replanning faster, we should maintain a cache of Request::Model within the TaskPlanner
Implementation considerations
Refer to comment https://github.com/open-rmf/rmf_task/pull/15#issuecomment-833487698
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reading TaskPlanner and the optimal_solve/greedy_solve methods, then inspect where each Request::Model is initialized and review the implementation discussion linked in the issue. Done means replanning can reuse cached models for previously planned requests without recomputing invariant battery drain and duration.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- backend, performance
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100