Improve speed and readability of is_obstacle in DStarLite #1223
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Reference issue
resolves #817
What does this implement/fix?
Building on #817, this PR improves both performance and readability by using sets for obstacle management in
DStarLite.This change reduces the computational complexity of
is_obstaclefrom O(n) to O(1) average with respect to the number of obstacles. On my local environment, test execution time was improved from 1.72 seconds to 0.82 seconds.While the suggested improvement in the original issue used dictionaries, I opted for sets to achieve both greater efficiency and more concise code.
Additional information
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