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 - Cost distribution plot function.
13 - Heading independent near vertices procedure inspired by `nn4`.
17 - `nn4` use Euclidean distance while independently on RRT framework cost used.
20 - `opt_part` procedure (unused).
23 - Dijkstra path optimization only if goal found.
24 - Workaround used for optimizing part of path. There is a bug that causes
25 collision when steering from `i` to `i + 1` node of path from `tlog`. See
30 - Optimize path until optimal.
34 - Compilation macros that can specify output binary parameters.
35 - Auxiliary build and test scripts.
36 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
37 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
38 - Near vertices `nv2` procedure based on indexing over `y` axis.
39 - OpenMP parallelization of nearest neighbour and near vertices procedures.
40 - Rebase method that changes (rebases) RRT root to another RRT node.
41 - Structure and method for logging tree edges.
42 - Time dimension to RRT node.
43 - Obstacle distance to RRT Node.
44 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
46 - OpenGL 2.1 plot using SDL2.
47 - `nn4` procedure - set node's heading to heading of currently comparing node.
48 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
49 - Update cost method of `RRTNode` that updates cumulative costs of all
54 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
55 - Main planning loop logic.
56 - Path optimization of `T2` based on Dijkstra between cusps points.
59 - Deletion of nodes returned by `steer` but not used.
60 - Scaling for `iy_` nearest neighbour search structure.
64 - Changelog, license, readme.
65 - Class for RRT nodes.
66 - Base class for RRT planners.
67 - RRT primitive procedures:
69 - nearest neigbour search,
72 - RRT planner based on [LaValle1998] paper.
73 - Main program (input/output) with cmake file.
74 - Obstacles class (circle obstacle, segment obstacle).
75 - Collision check function to base RRT class.
76 - Bicycle car model used for collision check with car frame.
77 - Near vertices procedure.
78 - RRT\* planner based on [Karaman2011] paper.
79 - Alternative steering procedure.
80 - Reeds and Shepp cost, steering procedures.
81 - Bicycle car simulation.
82 - Closed loop controller with PI for speed and PurePursuit based on
83 [Coulter1992] paper for steering.
84 - Testing parking scenarios.
86 - RRT planner based on [Kuwata2008] paper.
87 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
88 rewire procedures) then the rest stick to the first node without rewiring.
89 - Cost log and legend with cost in plot.
92 - Adding JSON ouput for edges, samples.
93 - Steer procedure `st2` use bicycle car model.
97 - RRTNode heading overflow in constructor.
98 - Sampling range in `sa1` algorithm.