计算minimum snap的耗时很久，正常吗？

[charon-cheung]

Time in A start is 9.6ms, path cost 6.66m Time in Minimum Snap is 26079ms

如果A星用时几毫秒，minimum snap用时一般几秒，甚至十几秒

[zm0612]

目前我这里的思路是讲A star搜索的所有点都当做minimum snap的航迹点，实际上在真实场景下使用时并不会这样，应该间隔一个距离选择一个航点，根据我之前的经验大概四五个航点只需要零点几毫秒

[kintzhao]

pc i5上运行测试 order=4

[ INFO] [1673434616.345136349]: Init grid map use time(ms): 0 [ INFO] [1673434627.685425794, 5959.817000000]: --> Time in A star is 1.000000 ms, path cost 9.080509 m WARNING: Logging before InitGoogleLogging() is written to STDERR I0111 18:57:08.031438 22656 minimum_snap.cpp:16] max_vel_:1 max_accel_:1 I0111 18:57:08.031708 22656 minimum_snap.cpp:17] t:1 dist_threshold_1:1 waypoint:159 I0111 18:57:08.031739 22656 minimum_snap.cpp:18] ===================================== I0111 18:57:08.031749 22656 minimum_snap.cpp:29] i:0 times:0.265915 delta_dist:0.0707107 I0111 18:57:08.031766 22656 minimum_snap.cpp:29] i:1 times:0.265915 delta_dist:0.0707107 I0111 18:57:08.031778 22656 minimum_snap.cpp:29] i:2 times:0.265915 delta_dist:0.0707107 I0111 18:57:08.031788 22656 minimum_snap.cpp:29] i:3 times:0.265915 delta_dist:0.0707107 ................................. I0111 18:57:08.035050 22656 minimum_snap.cpp:29] i:153 times:0.223607 delta_dist:0.05 I0111 18:57:08.035071 22656 minimum_snap.cpp:29] i:154 times:0.223607 delta_dist:0.05 I0111 18:57:08.035091 22656 minimum_snap.cpp:29] i:155 times:0.223607 delta_dist:0.05 I0111 18:57:08.035111 22656 minimum_snap.cpp:29] i:156 times:0.223607 delta_dist:0.05 I0111 18:57:08.036262 22656 minimum_snap.cpp:29] i:157 times:0.223607 delta_dist:0.05 I0111 18:57:08.036384 22656 minimum_snap.cpp:44] waypoints_vel:159 waypoints_acc:159 segments_time:158 I0111 18:57:13.356433 22656 minimum_snap.cpp:44] waypoints_vel:159 waypoints_acc:159 segments_time:158 [ INFO] [1673434639.679342743, 5965.249000000]: --> Time in Minimum Snap is 5235.000000 ms