refactor(autoware_mpc_lateral_controller): speed up matrix calculation with sparse matrix #8908
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…n with sparse matrix Signed-off-by: kyoichi-sugahara <[email protected]>
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Description
This PR optimizes the MPC lateral controller by introducing sparse matrix operations and vectorizing calculations for improved performance and memory efficiency.
Related links
Parent Issue:
None.
How was this PR tested?
computational cost of from
generateMPCMatrixtoexecuteOptimizationfunction and checked with same test case.original result:
udated result:
None.
Interface changes
None.