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fixed aorrtc benchmarking when early exit #86

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Merged
claytonwramsey merged 2 commits into from
Jan 9, 2026
Merged

fixed aorrtc benchmarking when early exit #86

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63dbe03
fixed aorrtc benchmark for early exit
Squirtleee Jan 8, 2026
14f20c9
removed extra lines
Squirtleee Jan 8, 2026
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3 changes: 3 additions & 0 deletions src/impl/vamp/planning/aorrtc.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -408,6 +408,9 @@ namespace vamp::planning
result = simplify<Robot, rake, resolution>(result.path, environment, settings.simplify, rng);
}

result.nanoseconds = vamp::utils::get_elapsed_nanoseconds(start_time);
result.iterations = iters;

// Exit early if trivial, unsolved, or not optimizing
if (not settings.optimize or result.path.empty() or result.path.size() == 2)
{
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