2 All notable changes to this project will be documented in this file.
4 The format is based on [Keep a Changelog][] and this project adheres to
5 [Semantic Versioning][].
7 [Keep a Changelog]: http://keepachangelog.com/
8 [Semantic Versioning]: http://semver.org/
12 - Right parallel parking slot planner.
13 - Shrinking length of parallel parking slot test.
14 - SlotPlanner *Find Init Pose* `fip()` method based on BFS.
15 - Reverse approach for finding "entry pose". See Vorobieva2015 for more info.
16 - SlotSide (LEFT, RIGHT) and SlotType (PARALLEL, PERPENDICULAR) methods for
18 - Information used for sampling getter.
22 - Make T2 planner the default planner.
27 ## 0.5.0 - 20109-02-26
29 - 2d grid data structure for indexing nodes by `x` and `y` axes.
31 - Bicycle car geometry:
32 - Turning radius circle centers.
33 - Drivable space collision.
34 - Slot planner for parallel parking.
38 - Bidirectional T3 planner based on two T2 planners.
39 - RRT\*-Connect algorithm based on [Klemm2015] paper.
40 - Optimization procedure based on *Remove Redundant Points* from [Lan2015].
41 - Variable steer step size to `st3` procedure.
44 - Make `sample` procedure part of RRTBase.
45 - Make `cost` function part of RRTBase.
46 - Make `nn` procedure part of RRTBase.
47 - Make `nv` procedure part of RRTBase.
48 - Make `steer` procedure part of RRTBase.
49 - Refactor `gplot` module.
50 - T2 planner to include variable steer step size.
51 - Set T3 planner as default.
54 - RRTBase planner destructor. See `base/rrtbase.cc` for more info.
58 - Cost distribution plot function.
59 - Heading independent near vertices procedure inspired by `nn4`.
63 - `nn4` use Euclidean distance while independently on RRT framework cost used.
66 - `opt_part` procedure (unused).
69 - Dijkstra path optimization only if goal found.
70 - Workaround used for optimizing part of path. There is a bug that causes
71 collision when steering from `i` to `i + 1` node of path from `tlog`. See
76 - Optimize path until optimal.
80 - Compilation macros that can specify output binary parameters.
81 - Auxiliary build and test scripts.
82 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
83 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
84 - Near vertices `nv2` procedure based on indexing over `y` axis.
85 - OpenMP parallelization of nearest neighbour and near vertices procedures.
86 - Rebase method that changes (rebases) RRT root to another RRT node.
87 - Structure and method for logging tree edges.
88 - Time dimension to RRT node.
89 - Obstacle distance to RRT Node.
90 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
92 - OpenGL 2.1 plot using SDL2.
93 - `nn4` procedure - set node's heading to heading of currently comparing node.
94 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
95 - Update cost method of `RRTNode` that updates cumulative costs of all
100 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
101 - Main planning loop logic.
102 - Path optimization of `T2` based on Dijkstra between cusps points.
105 - Deletion of nodes returned by `steer` but not used.
106 - Scaling for `iy_` nearest neighbour search structure.
108 ## 0.1.0 - 2018-07-05
110 - Changelog, license, readme.
111 - Class for RRT nodes.
112 - Base class for RRT planners.
113 - RRT primitive procedures:
115 - nearest neigbour search,
117 - steering procedure.
118 - RRT planner based on [LaValle1998] paper.
119 - Main program (input/output) with cmake file.
120 - Obstacles class (circle obstacle, segment obstacle).
121 - Collision check function to base RRT class.
122 - Bicycle car model used for collision check with car frame.
123 - Near vertices procedure.
124 - RRT\* planner based on [Karaman2011] paper.
125 - Alternative steering procedure.
126 - Reeds and Shepp cost, steering procedures.
127 - Bicycle car simulation.
128 - Closed loop controller with PI for speed and PurePursuit based on
129 [Coulter1992] paper for steering.
130 - Testing parking scenarios.
131 - Plot python script.
132 - RRT planner based on [Kuwata2008] paper.
133 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
134 rewire procedures) then the rest stick to the first node without rewiring.
135 - Cost log and legend with cost in plot.
138 - Adding JSON ouput for edges, samples.
139 - Steer procedure `st2` use bicycle car model.
143 - RRTNode heading overflow in constructor.
144 - Sampling range in `sa1` algorithm.