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Significantly improve pathfinding performance on RIO (#476)
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* Java pathfinding performance improvements

* fix potential pathfinding infinite loop

* fix infinite loop in c++

* port java performance improvements to c++

* protect obstacles set with request lock

* preemptively change request booleans

* use wpi::mutex and scoped_lock
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@mjansen4857
mjansen4857 authored Nov 17, 2023
1 parent 116341a commit 4acdc2f
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