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.
20 - Time dimension to RRT node.
21 - Obstacle distance to RRT Node.
22 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
27 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
28 - Main planning loop logic.
31 - Deletion of nodes returned by `steer` but not used.
32 - Scaling for `iy_` nearest neighbour search structure.
36 - Changelog, license, readme.
37 - Class for RRT nodes.
38 - Base class for RRT planners.
39 - RRT primitive procedures:
41 - nearest neigbour search,
44 - RRT planner based on [LaValle1998] paper.
45 - Main program (input/output) with cmake file.
46 - Obstacles class (circle obstacle, segment obstacle).
47 - Collision check function to base RRT class.
48 - Bicycle car model used for collision check with car frame.
49 - Near vertices procedure.
50 - RRT\* planner based on [Karaman2011] paper.
51 - Alternative steering procedure.
52 - Reeds and Shepp cost, steering procedures.
53 - Bicycle car simulation.
54 - Closed loop controller with PI for speed and PurePursuit based on
55 [Coulter1992] paper for steering.
56 - Testing parking scenarios.
58 - RRT planner based on [Kuwata2008] paper.
59 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
60 rewire procedures) then the rest stick to the first node without rewiring.
61 - Cost log and legend with cost in plot.
64 - Adding JSON ouput for edges, samples.
65 - Steer procedure `st2` use bicycle car model.
69 - RRTNode heading overflow in constructor.
70 - Sampling range in `sa1` algorithm.