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rtime.felk.cvut.cz Git - hubacji1/iamcar.git/log
Jiri Vlasak [Wed, 16 Jan 2019 09:08:01 +0000 (10:08 +0100)]
Merge branch 'feature/pthread'
Jiri Vlasak [Wed, 16 Jan 2019 09:02:25 +0000 (10:02 +0100)]
Set T3 as default planner
Jiri Vlasak [Wed, 16 Jan 2019 08:51:28 +0000 (09:51 +0100)]
Add howto enable address sanitizer
Jiri Vlasak [Tue, 15 Jan 2019 15:06:07 +0000 (16:06 +0100)]
Prevent running `findt()` twice
It should be run only in T3 planner.
Jiri Vlasak [Fri, 11 Jan 2019 13:15:28 +0000 (14:15 +0100)]
Remove colliding `ns` in T2::next()
Jiri Vlasak [Tue, 15 Jan 2019 11:49:35 +0000 (12:49 +0100)]
Add initialization for connect trees procedure
Different nodes start the connection between trees based on which tree
has found the goal.
Jiri Vlasak [Mon, 14 Jan 2019 15:17:42 +0000 (16:17 +0100)]
Set T3 goal found when trees overlap
Jiri Vlasak [Mon, 14 Jan 2019 15:16:50 +0000 (16:16 +0100)]
Refactor goal found procedure
Jiri Vlasak [Sun, 13 Jan 2019 15:48:38 +0000 (16:48 +0100)]
Add connect trees
Jiri Vlasak [Sun, 13 Jan 2019 15:30:21 +0000 (16:30 +0100)]
Add trees overlap check
Jiri Vlasak [Sun, 13 Jan 2019 15:28:17 +0000 (16:28 +0100)]
Remove path optimization from next run
Jiri Vlasak [Sun, 13 Jan 2019 15:27:05 +0000 (16:27 +0100)]
Set static size for nodes vector
Jiri Vlasak [Fri, 11 Jan 2019 13:54:34 +0000 (14:54 +0100)]
Fix heap-use-after-free error when T3 is used
As T3 shares some resources with two T2 planners `p_root_` and `p_goal_`
the problem with descructors occures.
Therefore, all the code needed for destructing T3 planner and both T2
planners (`p_root_` and `p_goal_`) is in T3 destructor method
(`T3::~T3()`) and T2 destructor (and its parent destructors) must not be
called.
If only T2 planner should be used, this patch has to be *reverted*.
Jiri Vlasak [Fri, 11 Jan 2019 12:34:44 +0000 (13:34 +0100)]
Add T3 destructor
Jiri Vlasak [Fri, 11 Jan 2019 09:41:29 +0000 (10:41 +0100)]
Fix memory leak in path optimization procedure
Jiri Vlasak [Thu, 10 Jan 2019 11:29:32 +0000 (12:29 +0100)]
Enable Karaman2011, T3 as global variables
Jiri Vlasak [Wed, 9 Jan 2019 18:48:13 +0000 (19:48 +0100)]
Fix next return in T3
Jiri Vlasak [Wed, 9 Jan 2019 16:18:59 +0000 (17:18 +0100)]
Add pthread to main, set it as default
Jiri Vlasak [Wed, 9 Jan 2019 16:17:09 +0000 (17:17 +0100)]
Change inner planners of T3 to public
Jiri Vlasak [Tue, 8 Jan 2019 14:05:52 +0000 (15:05 +0100)]
Merge branch 'feature/variable-steer-step'
Jiri Vlasak [Tue, 8 Jan 2019 13:50:05 +0000 (14:50 +0100)]
Update T2 with variable steer step
Jiri Vlasak [Tue, 8 Jan 2019 13:01:19 +0000 (14:01 +0100)]
Update steer procedure with step variable
Jiri Vlasak [Mon, 7 Jan 2019 15:09:38 +0000 (16:09 +0100)]
Refactor macros in main
Jiri Vlasak [Mon, 7 Jan 2019 14:35:00 +0000 (15:35 +0100)]
Update plot
Decide if there are some edges to plot and plot just one figure if not.
Jiri Vlasak [Mon, 7 Jan 2019 13:50:40 +0000 (14:50 +0100)]
Fix bounding obstacle in plot
Jiri Vlasak [Mon, 7 Jan 2019 13:35:00 +0000 (14:35 +0100)]
Update readme
Jiri Vlasak [Mon, 7 Jan 2019 12:58:14 +0000 (13:58 +0100)]
Merge branch 'feature/refactor'
Jiri Vlasak [Mon, 7 Jan 2019 12:47:39 +0000 (13:47 +0100)]
Update hatch, remove unused
Jiri Vlasak [Mon, 7 Jan 2019 12:38:36 +0000 (13:38 +0100)]
Update font size, figure title
Jiri Vlasak [Mon, 7 Jan 2019 12:36:57 +0000 (13:36 +0100)]
Update gplot log sources
Jiri Vlasak [Mon, 7 Jan 2019 10:02:01 +0000 (11:02 +0100)]
Add example scenarios
Jiri Vlasak [Fri, 21 Dec 2018 15:03:36 +0000 (16:03 +0100)]
Merge branch 'feature/refactor-opt'
Jiri Vlasak [Fri, 21 Dec 2018 15:00:00 +0000 (16:00 +0100)]
Fix plot all trajectories in plot script
Jiri Vlasak [Fri, 21 Dec 2018 13:02:47 +0000 (14:02 +0100)]
Update test script
Create log directory structure automatically based on binaries.
Jiri Vlasak [Fri, 21 Dec 2018 12:46:28 +0000 (13:46 +0100)]
Update binaries file naming convention
Jiri Vlasak [Fri, 21 Dec 2018 12:44:40 +0000 (13:44 +0100)]
Add optimization procedure based on Lan2015
Jiri Vlasak [Fri, 21 Dec 2018 12:39:38 +0000 (13:39 +0100)]
Rename circle/segment obstacles getter
The name collides with `cos` math function.
Jiri Vlasak [Fri, 21 Dec 2018 08:55:04 +0000 (09:55 +0100)]
Add commented options for nn, cusps
Jiri Vlasak [Fri, 21 Dec 2018 08:54:02 +0000 (09:54 +0100)]
Update nn3 with co2
Jiri Vlasak [Tue, 18 Dec 2018 11:57:35 +0000 (12:57 +0100)]
Jiri Vlasak [Mon, 17 Dec 2018 17:01:09 +0000 (18:01 +0100)]
Fix adding optimized path
Jiri Vlasak [Mon, 17 Dec 2018 17:00:16 +0000 (18:00 +0100)]
Fix tmp cusps overflow
Jiri Vlasak [Mon, 17 Dec 2018 12:47:50 +0000 (13:47 +0100)]
Add optimize procedure from Islam2012
Jiri Vlasak [Mon, 17 Dec 2018 09:24:14 +0000 (10:24 +0100)]
Split opt procedure from tips nodes gathering
Jiri Vlasak [Mon, 17 Dec 2018 08:51:50 +0000 (09:51 +0100)]
Rename Dijkstra-based path optimization procedure
Jiri Vlasak [Fri, 21 Dec 2018 08:59:44 +0000 (09:59 +0100)]
Merge branch 'feature/refactor-gplot'
Jiri Vlasak [Fri, 21 Dec 2018 08:59:19 +0000 (09:59 +0100)]
Update changelog
Jiri Vlasak [Fri, 21 Dec 2018 08:51:31 +0000 (09:51 +0100)]
Add binaries file naming convention
Jiri Vlasak [Fri, 21 Dec 2018 08:22:55 +0000 (09:22 +0100)]
Remove unused functions
Jiri Vlasak [Fri, 21 Dec 2018 08:18:38 +0000 (09:18 +0100)]
Refactor print functions in gplot
Because data structure of LOG changed.
Jiri Vlasak [Fri, 21 Dec 2018 07:14:39 +0000 (08:14 +0100)]
Refactor plot costdist in gplot
Because data structure of LOG changed.
Jiri Vlasak [Fri, 21 Dec 2018 07:06:11 +0000 (08:06 +0100)]
Refactor plot maxtime in gplot
- Change the data structure of LOG.
- Load logs (trajectories) in main.
Jiri Vlasak [Fri, 14 Dec 2018 15:58:49 +0000 (16:58 +0100)]
Fix load file behavior
Jiri Vlasak [Fri, 14 Dec 2018 15:54:33 +0000 (16:54 +0100)]
Fix path optimization procedure
- Use `cost` from planner class.
- Update path even if goal not found.
- Fix adding nodes after steering.
- Update all the costs in tree.
Jiri Vlasak [Fri, 14 Dec 2018 14:28:55 +0000 (15:28 +0100)]
Refactor findt() procedure
Jiri Vlasak [Fri, 14 Dec 2018 14:28:00 +0000 (15:28 +0100)]
Fix adding child in RRT* connect
Jiri Vlasak [Thu, 13 Dec 2018 09:36:54 +0000 (10:36 +0100)]
Fix path optimization procedure collisions
Jiri Vlasak [Mon, 10 Dec 2018 09:53:28 +0000 (10:53 +0100)]
Merge branch 'refactor'
Jiri Vlasak [Mon, 10 Dec 2018 09:45:15 +0000 (10:45 +0100)]
Fix minor refactor issues
- Forget `ST`.
- Forget `NNVERSION`.
Jiri Vlasak [Mon, 10 Dec 2018 09:32:33 +0000 (10:32 +0100)]
Update build script
Jiri Vlasak [Mon, 10 Dec 2018 09:30:25 +0000 (10:30 +0100)]
Make `steer` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 09:23:47 +0000 (10:23 +0100)]
Make `nv` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 09:01:23 +0000 (10:01 +0100)]
Make `nn` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 08:41:24 +0000 (09:41 +0100)]
Make `cost` function part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 07:56:30 +0000 (08:56 +0100)]
Make `sample` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 07:54:58 +0000 (08:54 +0100)]
Add plot nodes from goal
Jiri Vlasak [Mon, 10 Dec 2018 07:40:27 +0000 (08:40 +0100)]
Add section comments to RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 07:20:34 +0000 (08:20 +0100)]
Merge branch 'feature/rrtstart-connect'
Jiri Vlasak [Mon, 10 Dec 2018 07:19:53 +0000 (08:19 +0100)]
Update changelog
Jiri Vlasak [Thu, 6 Dec 2018 10:10:00 +0000 (11:10 +0100)]
Fix goal found for Klemm2015
Jiri Vlasak [Thu, 6 Dec 2018 08:20:45 +0000 (09:20 +0100)]
Add commented DEBUG print output
Jiri Vlasak [Thu, 6 Dec 2018 08:19:34 +0000 (09:19 +0100)]
Add Extend* procedure for Connect*
Jiri Vlasak [Thu, 6 Dec 2018 08:18:16 +0000 (09:18 +0100)]
Add Extend* procedure
Jiri Vlasak [Thu, 6 Dec 2018 07:47:31 +0000 (08:47 +0100)]
Fix Klemm2015 constructor
Jiri Vlasak [Wed, 5 Dec 2018 13:21:05 +0000 (14:21 +0100)]
Add root, goal affinity in Klemm2015 constructor
Jiri Vlasak [Wed, 5 Dec 2018 12:59:59 +0000 (13:59 +0100)]
Add Connect* procedure
Jiri Vlasak [Wed, 5 Dec 2018 12:39:48 +0000 (13:39 +0100)]
Add RRT*-Connect main loop
Jiri Vlasak [Mon, 3 Dec 2018 15:49:37 +0000 (16:49 +0100)]
Add next NN/NV VERSION
Jiri Vlasak [Mon, 3 Dec 2018 15:03:44 +0000 (16:03 +0100)]
Add nv2 with tree affinity
Jiri Vlasak [Mon, 3 Dec 2018 15:01:37 +0000 (16:01 +0100)]
Add nn5 with tree affinity
Jiri Vlasak [Mon, 3 Dec 2018 12:45:44 +0000 (13:45 +0100)]
Add nodes tree affinity
This allows developing of advanced RRT algorithms as RRT*-Connect.
Jiri Vlasak [Mon, 3 Dec 2018 12:41:04 +0000 (13:41 +0100)]
Add swap trees procedure
Jiri Vlasak [Mon, 3 Dec 2018 09:51:56 +0000 (10:51 +0100)]
Add RRT*-Connect [Klemm2015] skeleton
Jiri Vlasak [Mon, 10 Dec 2018 06:14:13 +0000 (07:14 +0100)]
Plot percentile only if some data
Jiri Vlasak [Sun, 9 Dec 2018 21:08:11 +0000 (22:08 +0100)]
Set global variables for graph plot
Jiri Vlasak [Mon, 10 Dec 2018 07:04:26 +0000 (08:04 +0100)]
Update parallel parking scenario dimensions
- Set smaller slot.
Jiri Vlasak [Fri, 7 Dec 2018 17:51:14 +0000 (18:51 +0100)]
Merge branch 'feature/T3'
Jiri Vlasak [Fri, 7 Dec 2018 17:50:34 +0000 (18:50 +0100)]
Update changelog
Jiri Vlasak [Fri, 7 Dec 2018 17:48:33 +0000 (18:48 +0100)]
Remove search for approximate goal
Jiri Vlasak [Fri, 7 Dec 2018 17:45:34 +0000 (18:45 +0100)]
Update test script with T2, T3 testing
Jiri Vlasak [Fri, 7 Dec 2018 17:44:45 +0000 (18:44 +0100)]
Update graph plot with T2, T3 testing
Jiri Vlasak [Fri, 7 Dec 2018 17:40:38 +0000 (18:40 +0100)]
Optimize path only once when path found
Jiri Vlasak [Fri, 7 Dec 2018 17:34:46 +0000 (18:34 +0100)]
Add tree overlap procedure
Jiri Vlasak [Fri, 7 Dec 2018 17:02:48 +0000 (18:02 +0100)]
Fix infinitive loop in find trajectory procedure
Jiri Vlasak [Fri, 7 Dec 2018 14:41:31 +0000 (15:41 +0100)]
Add goal found setter
Jiri Vlasak [Fri, 7 Dec 2018 14:22:39 +0000 (15:22 +0100)]
Add check for tree connection
Jiri Vlasak [Fri, 7 Dec 2018 14:18:48 +0000 (15:18 +0100)]
Add tree connection procedure
This procedure connects two trees when their nodes are close enough.
Jiri Vlasak [Fri, 7 Dec 2018 13:16:56 +0000 (14:16 +0100)]
Add T3 basic loop (next procedure)
Jiri Vlasak [Fri, 7 Dec 2018 13:16:08 +0000 (14:16 +0100)]
Fix link obstacles for T3
Jiri Vlasak [Fri, 7 Dec 2018 12:42:12 +0000 (13:42 +0100)]
Add T3 skeleton