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rtime.felk.cvut.cz Git - hubacji1/rrts.git/log
Jiri Vlasak [Tue, 31 Aug 2021 10:01:10 +0000 (12:01 +0200)]
Add recompute cc method
Jiri Vlasak [Mon, 30 Aug 2021 14:54:13 +0000 (16:54 +0200)]
Merge branch 'fix/dijkstra-backward-opt'
Jiri Vlasak [Mon, 30 Aug 2021 11:50:48 +0000 (13:50 +0200)]
Fix backward dijkstra optimization
Jiri Vlasak [Mon, 30 Aug 2021 11:00:42 +0000 (13:00 +0200)]
Add drivable to forward dijkstra algorithm
Jiri Vlasak [Mon, 30 Aug 2021 11:00:18 +0000 (13:00 +0200)]
Fix forward dijkstra algorithm
Jiri Vlasak [Mon, 30 Aug 2021 10:57:56 +0000 (12:57 +0200)]
Repeat optimization while improving
Jiri Vlasak [Mon, 30 Aug 2021 10:55:01 +0000 (12:55 +0200)]
Use interesting forward/backward methods
Jiri Vlasak [Mon, 30 Aug 2021 10:54:02 +0000 (12:54 +0200)]
Improve pick interesting method
Jiri Vlasak [Mon, 30 Aug 2021 10:47:42 +0000 (12:47 +0200)]
Update anytime improvement with last path
When random sample's cost is greater than last path cc and therefore
there will be resampling, use random node from the last path instead.
Jiri Vlasak [Mon, 30 Aug 2021 10:45:02 +0000 (12:45 +0200)]
Add recompute path cc method
Jiri Vlasak [Fri, 27 Aug 2021 09:34:49 +0000 (11:34 +0200)]
Revert
100e888
It would be necessary to recompute all cc of all the child node, which
is impossible by the architecture. (RRTNode knows about its parent
only.)
Jiri Vlasak [Tue, 24 Aug 2021 08:17:54 +0000 (10:17 +0200)]
Merge branch 'refactor-and-tuning'
Jiri Vlasak [Tue, 24 Aug 2021 08:16:02 +0000 (10:16 +0200)]
Add planner 39
Jiri Vlasak [Tue, 24 Aug 2021 08:02:44 +0000 (10:02 +0200)]
Remove commented code
Jiri Vlasak [Tue, 24 Aug 2021 07:59:53 +0000 (09:59 +0200)]
Compute path only at the end of each iteration
Jiri Vlasak [Tue, 24 Aug 2021 07:59:01 +0000 (09:59 +0200)]
Try steering from root to just added node
Jiri Vlasak [Tue, 24 Aug 2021 07:56:29 +0000 (09:56 +0200)]
Implement anytime rrt
Jiri Vlasak [Tue, 24 Aug 2021 07:50:54 +0000 (09:50 +0200)]
When path not found, do not optimize it
Reseting ogoal_cc and otime is not desired as the original path is the
first path found (even with reset.)
Jiri Vlasak [Tue, 24 Aug 2021 07:48:37 +0000 (09:48 +0200)]
Use macros to comment out the code
Jiri Vlasak [Tue, 27 Jul 2021 16:14:03 +0000 (18:14 +0200)]
Merge branch 'release/0.8.0'
Jiri Vlasak [Tue, 27 Jul 2021 16:01:13 +0000 (18:01 +0200)]
Bump doxygen version
Jiri Vlasak [Tue, 27 Jul 2021 15:13:56 +0000 (17:13 +0200)]
Merge branch 'refactor'
Jiri Vlasak [Tue, 27 Jul 2021 10:47:57 +0000 (12:47 +0200)]
Add planner 38
Jiri Vlasak [Fri, 23 Jul 2021 14:34:59 +0000 (16:34 +0200)]
Remove ut
Jiri Vlasak [Fri, 23 Jul 2021 11:13:03 +0000 (13:13 +0200)]
Update documentation
Jiri Vlasak [Fri, 23 Jul 2021 11:12:13 +0000 (13:12 +0200)]
Rewrite rrtext6
Jiri Vlasak [Fri, 23 Jul 2021 10:50:34 +0000 (12:50 +0200)]
Rename rrts planners header file
Jiri Vlasak [Tue, 20 Jul 2021 11:25:40 +0000 (13:25 +0200)]
Update rrt goal based on pose range refactoring
Jiri Vlasak [Thu, 15 Jul 2021 08:29:51 +0000 (10:29 +0200)]
Rewrite rrtce, add rrtce 36, 37
Jiri Vlasak [Fri, 23 Jul 2021 09:18:32 +0000 (11:18 +0200)]
Add ext17, ext18
Jiri Vlasak [Fri, 23 Jul 2021 09:02:23 +0000 (11:02 +0200)]
Add ext16
Jiri Vlasak [Tue, 20 Jul 2021 14:34:33 +0000 (16:34 +0200)]
Add ext15
Jiri Vlasak [Mon, 19 Jul 2021 09:45:47 +0000 (11:45 +0200)]
Rewrite ext13
Jiri Vlasak [Thu, 15 Jul 2021 16:34:42 +0000 (18:34 +0200)]
Rewrite ext8
Jiri Vlasak [Thu, 15 Jul 2021 08:42:10 +0000 (10:42 +0200)]
Rewrite ext10
Jiri Vlasak [Thu, 22 Jul 2021 15:26:26 +0000 (17:26 +0200)]
Add ext14
Jiri Vlasak [Thu, 22 Jul 2021 15:25:58 +0000 (17:25 +0200)]
Rewrite ext2
Jiri Vlasak [Wed, 14 Jul 2021 12:39:24 +0000 (14:39 +0200)]
Rewrite rrts
Jiri Vlasak [Tue, 13 Jul 2021 11:53:02 +0000 (13:53 +0200)]
Update cmake lists, don't compile extensions
Jiri Vlasak [Tue, 13 Jul 2021 11:00:28 +0000 (13:00 +0200)]
Add bcar submodule
Jiri Vlasak [Tue, 13 Jul 2021 10:53:25 +0000 (12:53 +0200)]
Remove changelog
All the changes are stored in the annotated tag of the related version,
so keeping the changelog is just duplicating the work.
Jiri Vlasak [Tue, 13 Jul 2021 10:52:33 +0000 (12:52 +0200)]
Rename header files
Jiri Vlasak [Tue, 13 Jul 2021 10:49:40 +0000 (12:49 +0200)]
Change spacing
Jiri Vlasak [Tue, 13 Jul 2021 10:45:18 +0000 (12:45 +0200)]
Merge branch 'release/0.7.0'
Jiri Vlasak [Tue, 13 Jul 2021 10:44:20 +0000 (12:44 +0200)]
Update changelog
Jiri Vlasak [Mon, 12 Jul 2021 14:08:08 +0000 (16:08 +0200)]
Change steer step to 0.5 m
Jiri Vlasak [Mon, 12 Jul 2021 13:15:24 +0000 (15:15 +0200)]
Do not clear opt time log
Michal Sojka [Tue, 29 Jun 2021 13:54:17 +0000 (15:54 +0200)]
Allow using the jsoncpp library installed in non-default locations
Jiri Vlasak [Mon, 12 Jul 2021 11:24:56 +0000 (13:24 +0200)]
Merge branch 'tuning'
Jiri Vlasak [Mon, 12 Jul 2021 11:24:38 +0000 (13:24 +0200)]
Finish when goal found
Jiri Vlasak [Mon, 12 Jul 2021 11:20:11 +0000 (13:20 +0200)]
Add reset method, remove debug print
Jiri Vlasak [Mon, 12 Jul 2021 11:10:16 +0000 (13:10 +0200)]
Add reset method
Jiri Vlasak [Mon, 12 Jul 2021 09:25:30 +0000 (11:25 +0200)]
Store computed path in class variable
This change has the consequences for the _optimize path_ extensions,
particularly `ext3` and `ext13`. These extensions are also updated.
Jiri Vlasak [Mon, 12 Jul 2021 08:48:13 +0000 (10:48 +0200)]
Log path in each iteration
Jiri Vlasak [Wed, 30 Jun 2021 06:58:15 +0000 (08:58 +0200)]
Jiri Vlasak [Wed, 30 Jun 2021 06:57:01 +0000 (08:57 +0200)]
Fix accessing freed variables
Jiri Vlasak [Wed, 30 Jun 2021 06:51:29 +0000 (08:51 +0200)]
Jiri Vlasak [Wed, 30 Jun 2021 06:50:45 +0000 (08:50 +0200)]
Add icnt setter
Jiri Vlasak [Wed, 30 Jun 2021 06:49:36 +0000 (08:49 +0200)]
Make private public, add cumulative cost
Jiri Vlasak [Wed, 30 Jun 2021 06:48:40 +0000 (08:48 +0200)]
Make private public, add delete kd nodes
Jiri Vlasak [Mon, 28 Jun 2021 10:12:55 +0000 (12:12 +0200)]
Fix layer comparison in 3d
Jiri Vlasak [Mon, 28 Jun 2021 10:12:19 +0000 (12:12 +0200)]
Refactor delete kd nodes method
Jiri Vlasak [Wed, 2 Jun 2021 08:30:17 +0000 (10:30 +0200)]
Fix cost in connect procedure
Jiri Vlasak [Mon, 31 May 2021 14:39:38 +0000 (16:39 +0200)]
Use search cost in nn, nv only
Jiri Vlasak [Fri, 28 May 2021 12:36:23 +0000 (14:36 +0200)]
Jiri Vlasak [Fri, 28 May 2021 12:35:43 +0000 (14:35 +0200)]
Add nv to ext8
Jiri Vlasak [Mon, 10 May 2021 11:40:49 +0000 (13:40 +0200)]
Merge branch 'add-new-path-opt'
Jiri Vlasak [Mon, 10 May 2021 11:40:41 +0000 (13:40 +0200)]
Update changelog
Jiri Vlasak [Thu, 6 May 2021 15:59:14 +0000 (17:59 +0200)]
Implement different search for interesting nodes
Jiri Vlasak [Wed, 5 May 2021 13:59:50 +0000 (15:59 +0200)]
Copy rrtext3 to rrtext13
Jiri Vlasak [Mon, 3 May 2021 19:31:12 +0000 (21:31 +0200)]
Log opt path time
Jiri Vlasak [Mon, 3 May 2021 17:25:21 +0000 (19:25 +0200)]
Jiri Vlasak [Mon, 3 May 2021 13:03:02 +0000 (15:03 +0200)]
Use goal zone in connect
Jiri Vlasak [Mon, 3 May 2021 13:00:27 +0000 (15:00 +0200)]
Compute cost_build only when needed
Jiri Vlasak [Mon, 3 May 2021 12:51:02 +0000 (14:51 +0200)]
Log path based on iterations
Jiri Vlasak [Mon, 3 May 2021 12:46:05 +0000 (14:46 +0200)]
Store entries
Jiri Vlasak [Thu, 8 Apr 2021 08:23:48 +0000 (10:23 +0200)]
Merge branch 'release/0.6.0'
Jiri Vlasak [Thu, 8 Apr 2021 08:22:56 +0000 (10:22 +0200)]
Update changelog
Jiri Vlasak [Thu, 8 Apr 2021 08:21:52 +0000 (10:21 +0200)]
Merge branch 'rrtext12/use-nn'
Jiri Vlasak [Wed, 7 Apr 2021 19:40:41 +0000 (21:40 +0200)]
Update changelog
Jiri Vlasak [Mon, 29 Mar 2021 10:28:36 +0000 (12:28 +0200)]
Override connect and next methods
Due to using use_nn variable when sampling case 3, there is no need for the
nearest neighbor search during the steer 1. Also, connect procedure does not
need to check for better neighbors -- there are none.
Jiri Vlasak [Mon, 29 Mar 2021 10:27:29 +0000 (12:27 +0200)]
Set use_nn when sampling case 3
This sampling select with 0.5 probability if random is chosen from steered1 or
steered2.
Jiri Vlasak [Mon, 29 Mar 2021 10:26:09 +0000 (12:26 +0200)]
Get rid of edist helper function
Collides with another edist.
Jiri Vlasak [Fri, 19 Mar 2021 11:42:29 +0000 (12:42 +0100)]
Merge branch 'sample-from-nodes'
Jiri Vlasak [Fri, 19 Mar 2021 11:42:19 +0000 (12:42 +0100)]
Update changelog
Jiri Vlasak [Fri, 19 Mar 2021 09:54:12 +0000 (10:54 +0100)]
Add collide tmp steered from method
Jiri Vlasak [Fri, 19 Mar 2021 11:04:46 +0000 (12:04 +0100)]
Add tmp steered
Jiri Vlasak [Fri, 19 Mar 2021 10:59:21 +0000 (11:59 +0100)]
Add steered1/2 code
Jiri Vlasak [Fri, 19 Mar 2021 11:00:40 +0000 (12:00 +0100)]
Change r&s steering distance to 0.2
Jiri Vlasak [Fri, 19 Mar 2021 11:00:04 +0000 (12:00 +0100)]
Fix interesting nodes selection
Jiri Vlasak [Fri, 19 Mar 2021 10:39:58 +0000 (11:39 +0100)]
Fix sampling in circle
Jiri Vlasak [Fri, 19 Mar 2021 09:58:59 +0000 (10:58 +0100)]
Add finishit variable to rrts
Jiri Vlasak [Fri, 19 Mar 2021 09:52:39 +0000 (10:52 +0100)]
Document private, too
Jiri Vlasak [Fri, 26 Feb 2021 11:25:04 +0000 (12:25 +0100)]
Implement steer until collide for reeds and shepp
Jiri Vlasak [Mon, 15 Feb 2021 08:55:45 +0000 (09:55 +0100)]
Refactor json input
Jiri Vlasak [Wed, 10 Feb 2021 14:17:43 +0000 (15:17 +0100)]
Steer 1 until collide or greater than 5 meters
5 meters ~ 25 samples by 0.2 m
Jiri Vlasak [Mon, 8 Feb 2021 19:46:49 +0000 (20:46 +0100)]
Add uniform int distribution sampling
Jiri Vlasak [Mon, 8 Feb 2021 19:46:19 +0000 (20:46 +0100)]
Remove unused import
Jiri Vlasak [Mon, 8 Feb 2021 17:14:32 +0000 (18:14 +0100)]
Merge branch 'gz-entries'
Jiri Vlasak [Mon, 8 Feb 2021 17:14:21 +0000 (18:14 +0100)]
Update changelog