Running time of the planner

[caseypen]

Hi, I tried the function of plan_through_buildings in the /reproduction/uav/helps.py and examples/uav_planning.ipynb. I used a Desktop with a pretty decent CPU(i7-13700F), but the running time of the planning is very long (over an hour!!). Is this right? Can you provide some "lighter" examples for the user to just understand the whole picture well? I thought the whole method was in online fashion as described in the paper, right？ It will be better for the example to integrate the whole planning process including generating the convex feasible space with IRIS (I think, right?). I know the optimization part is workable in the example "reproduction/min_length_vs_min_time.ipynb". So does generating convex space takes so long time?

Thanks !