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 - Compilation macros that can specify output binary parameters.
15 - Auxiliary build and test scripts.
16 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
17 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
18 - Near vertices `nv2` procedure based on indexing over `y` axis.
19 - OpenMP parallelization of nearest neighbour and near vertices procedures.
20 - Rebase method that changes (rebases) RRT root to another RRT node.
21 - Structure and method for logging tree edges.
22 - Time dimension to RRT node.
23 - Obstacle distance to RRT Node.
24 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
26 - OpenGL 2.1 plot using SDL2.
27 - `nn4` procedure - set node's heading to heading of currently comparing node.
28 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
29 - Update cost method of `RRTNode` that updates cumulative costs of all
34 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
35 - Main planning loop logic.
36 - Path optimization of `T2` based on Dijkstra between cusps points.
39 - Deletion of nodes returned by `steer` but not used.
40 - Scaling for `iy_` nearest neighbour search structure.
44 - Changelog, license, readme.
45 - Class for RRT nodes.
46 - Base class for RRT planners.
47 - RRT primitive procedures:
49 - nearest neigbour search,
52 - RRT planner based on [LaValle1998] paper.
53 - Main program (input/output) with cmake file.
54 - Obstacles class (circle obstacle, segment obstacle).
55 - Collision check function to base RRT class.
56 - Bicycle car model used for collision check with car frame.
57 - Near vertices procedure.
58 - RRT\* planner based on [Karaman2011] paper.
59 - Alternative steering procedure.
60 - Reeds and Shepp cost, steering procedures.
61 - Bicycle car simulation.
62 - Closed loop controller with PI for speed and PurePursuit based on
63 [Coulter1992] paper for steering.
64 - Testing parking scenarios.
66 - RRT planner based on [Kuwata2008] paper.
67 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
68 rewire procedures) then the rest stick to the first node without rewiring.
69 - Cost log and legend with cost in plot.
72 - Adding JSON ouput for edges, samples.
73 - Steer procedure `st2` use bicycle car model.
77 - RRTNode heading overflow in constructor.
78 - Sampling range in `sa1` algorithm.