ariadne-cps/opera

Framework for collision prediction of robots and humans

opera's Issues

Refactor out the body part representation

Right now, capsule and sphere representations are not two representations for geometry, rather than two ways of handling reusing. We should instead make it so that all operations assume a provided representation.

Parallelize the awakening

This should be parallelized, pending the import of a concurrency submodule in order to enqueue tasks.

Support real-time prediction sample frequency adaptation

In order to react to the instantaneous load, we shall reduce or increase the effective number of samples in a mode used for prediction. This adaptation should be a function of the distance from the current time, since larger prediction times need less granularity anyway.

Re-implement a Kafka broker access

We shall re-implement it using the old implementation, but with the new interface.

Implement retention of humans and related jobs

Since human identifiers can change and a human might not appear anymore, all sleeping jobs related to a human shall be removed (along with the human) after a given user-defined time

Fix profile_barrier

Profiling a barrier is broken since a long time, it should be fixed to reflect the most recent way of constructing barriers.