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 - Compilation macros that can specify output binary parameters.
13 - Auxiliary build and test scripts.
14 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
15 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
16 - Near vertices `nv2` procedure based on indexing over `y` axis.
17 - OpenMP parallelization of nearest neighbour and near vertices procedures.
18 - Rebase method that changes (rebases) RRT root to another RRT node.
19 - Structure and method for logging tree edges.
23 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
26 - Deletion of nodes returned by `steer` but not used.
27 - Scaling for `iy_` nearest neighbour search structure.
31 - Changelog, license, readme.
32 - Class for RRT nodes.
33 - Base class for RRT planners.
34 - RRT primitive procedures:
36 - nearest neigbour search,
39 - RRT planner based on [LaValle1998] paper.
40 - Main program (input/output) with cmake file.
41 - Obstacles class (circle obstacle, segment obstacle).
42 - Collision check function to base RRT class.
43 - Bicycle car model used for collision check with car frame.
44 - Near vertices procedure.
45 - RRT\* planner based on [Karaman2011] paper.
46 - Alternative steering procedure.
47 - Reeds and Shepp cost, steering procedures.
48 - Bicycle car simulation.
49 - Closed loop controller with PI for speed and PurePursuit based on
50 [Coulter1992] paper for steering.
51 - Testing parking scenarios.
53 - RRT planner based on [Kuwata2008] paper.
54 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
55 rewire procedures) then the rest stick to the first node without rewiring.
56 - Cost log and legend with cost in plot.
59 - Adding JSON ouput for edges, samples.
60 - Steer procedure `st2` use bicycle car model.
64 - RRTNode heading overflow in constructor.
65 - Sampling range in `sa1` algorithm.