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/
14 - Forward perpendicular parking methods for `SlotPlanner`.
15 - Angle forward/backward parking.
16 - Multiple `firsts` points tested before random sampling.
17 - Dubins path steering procedure.
20 - Parking slot in scenario starts with the point closest to the init pose.
21 - Fix and include perpendicular parking slot in *find init pose* method of
23 - In T2's next method, steer to multiple goals that are connected with goal.
24 - Normal distribution in sampling.
25 - Sampling info based on init pose find by `fip()` of SlotPlanner.
26 - Refactor Nearest Neighbor, remove unused files.
27 - Make sampling info scenario dependent.
28 - Scenario JSON format.
35 - Missing declaration.
39 - Right parallel parking slot planner.
40 - Shrinking length of parallel parking slot test.
41 - SlotPlanner *Find Init Pose* `fip()` method based on BFS.
42 - Reverse approach for finding "entry pose". See Vorobieva2015 for more info.
43 - SlotSide (LEFT, RIGHT) and SlotType (PARALLEL, PERPENDICULAR) methods for
45 - Information used for sampling getter.
46 - Slot planner working for perpendicular parking scenario also.
47 - Matej's heuristic cost.
48 - Perpendicular slot planner proposal.
49 - Random samples logging.
50 - Rotate scenario script.
51 - Obstacles to SlotPlanner.
55 - Make `T2` planner the default planner.
56 - Sampling info for different dimensions and angles of slot.
57 - Use reverse approach for finding init pose by default.
58 - Use `USE_GL` macro for build, in code.
63 ## 0.5.0 - 20109-02-26
65 - 2d grid data structure for indexing nodes by `x` and `y` axes.
67 - Bicycle car geometry:
68 - Turning radius circle centers.
69 - Drivable space collision.
70 - Slot planner for parallel parking.
74 - Bidirectional T3 planner based on two T2 planners.
75 - RRT\*-Connect algorithm based on [Klemm2015] paper.
76 - Optimization procedure based on *Remove Redundant Points* from [Lan2015].
77 - Variable steer step size to `st3` procedure.
80 - Make `sample` procedure part of RRTBase.
81 - Make `cost` function part of RRTBase.
82 - Make `nn` procedure part of RRTBase.
83 - Make `nv` procedure part of RRTBase.
84 - Make `steer` procedure part of RRTBase.
85 - Refactor `gplot` module.
86 - T2 planner to include variable steer step size.
87 - Set T3 planner as default.
90 - RRTBase planner destructor. See `base/rrtbase.cc` for more info.
94 - Cost distribution plot function.
95 - Heading independent near vertices procedure inspired by `nn4`.
99 - `nn4` use Euclidean distance while independently on RRT framework cost used.
102 - `opt_part` procedure (unused).
105 - Dijkstra path optimization only if goal found.
106 - Workaround used for optimizing part of path. There is a bug that causes
107 collision when steering from `i` to `i + 1` node of path from `tlog`. See
110 ## 0.2.1 - 2018-10-06
112 - Optimize path until optimal.
114 ## 0.2.0 - 2018-10-06
116 - Compilation macros that can specify output binary parameters.
117 - Auxiliary build and test scripts.
118 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
119 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
120 - Near vertices `nv2` procedure based on indexing over `y` axis.
121 - OpenMP parallelization of nearest neighbour and near vertices procedures.
122 - Rebase method that changes (rebases) RRT root to another RRT node.
123 - Structure and method for logging tree edges.
124 - Time dimension to RRT node.
125 - Obstacle distance to RRT Node.
126 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
128 - OpenGL 2.1 plot using SDL2.
129 - `nn4` procedure - set node's heading to heading of currently comparing node.
130 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
131 - Update cost method of `RRTNode` that updates cumulative costs of all
136 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
137 - Main planning loop logic.
138 - Path optimization of `T2` based on Dijkstra between cusps points.
141 - Deletion of nodes returned by `steer` but not used.
142 - Scaling for `iy_` nearest neighbour search structure.
144 ## 0.1.0 - 2018-07-05
146 - Changelog, license, readme.
147 - Class for RRT nodes.
148 - Base class for RRT planners.
149 - RRT primitive procedures:
151 - nearest neigbour search,
153 - steering procedure.
154 - RRT planner based on [LaValle1998] paper.
155 - Main program (input/output) with cmake file.
156 - Obstacles class (circle obstacle, segment obstacle).
157 - Collision check function to base RRT class.
158 - Bicycle car model used for collision check with car frame.
159 - Near vertices procedure.
160 - RRT\* planner based on [Karaman2011] paper.
161 - Alternative steering procedure.
162 - Reeds and Shepp cost, steering procedures.
163 - Bicycle car simulation.
164 - Closed loop controller with PI for speed and PurePursuit based on
165 [Coulter1992] paper for steering.
166 - Testing parking scenarios.
167 - Plot python script.
168 - RRT planner based on [Kuwata2008] paper.
169 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
170 rewire procedures) then the rest stick to the first node without rewiring.
171 - Cost log and legend with cost in plot.
174 - Adding JSON ouput for edges, samples.
175 - Steer procedure `st2` use bicycle car model.
179 - RRTNode heading overflow in constructor.
180 - Sampling range in `sa1` algorithm.