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 - Right parallel parking slot planner.
13 - Shrinking length of parallel parking slot test.
14 - SlotPlanner *Find Init Pose* `fip()` method based on BFS.
15 - Reverse approach for finding "entry pose". See Vorobieva2015 for more info.
16 - SlotSide (LEFT, RIGHT) and SlotType (PARALLEL, PERPENDICULAR) methods for
22 ## 0.5.0 - 20109-02-26
24 - 2d grid data structure for indexing nodes by `x` and `y` axes.
26 - Bicycle car geometry:
27 - Turning radius circle centers.
28 - Drivable space collision.
29 - Slot planner for parallel parking.
33 - Bidirectional T3 planner based on two T2 planners.
34 - RRT\*-Connect algorithm based on [Klemm2015] paper.
35 - Optimization procedure based on *Remove Redundant Points* from [Lan2015].
36 - Variable steer step size to `st3` procedure.
39 - Make `sample` procedure part of RRTBase.
40 - Make `cost` function part of RRTBase.
41 - Make `nn` procedure part of RRTBase.
42 - Make `nv` procedure part of RRTBase.
43 - Make `steer` procedure part of RRTBase.
44 - Refactor `gplot` module.
45 - T2 planner to include variable steer step size.
46 - Set T3 planner as default.
49 - RRTBase planner destructor. See `base/rrtbase.cc` for more info.
53 - Cost distribution plot function.
54 - Heading independent near vertices procedure inspired by `nn4`.
58 - `nn4` use Euclidean distance while independently on RRT framework cost used.
61 - `opt_part` procedure (unused).
64 - Dijkstra path optimization only if goal found.
65 - Workaround used for optimizing part of path. There is a bug that causes
66 collision when steering from `i` to `i + 1` node of path from `tlog`. See
71 - Optimize path until optimal.
75 - Compilation macros that can specify output binary parameters.
76 - Auxiliary build and test scripts.
77 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
78 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
79 - Near vertices `nv2` procedure based on indexing over `y` axis.
80 - OpenMP parallelization of nearest neighbour and near vertices procedures.
81 - Rebase method that changes (rebases) RRT root to another RRT node.
82 - Structure and method for logging tree edges.
83 - Time dimension to RRT node.
84 - Obstacle distance to RRT Node.
85 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
87 - OpenGL 2.1 plot using SDL2.
88 - `nn4` procedure - set node's heading to heading of currently comparing node.
89 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
90 - Update cost method of `RRTNode` that updates cumulative costs of all
95 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
96 - Main planning loop logic.
97 - Path optimization of `T2` based on Dijkstra between cusps points.
100 - Deletion of nodes returned by `steer` but not used.
101 - Scaling for `iy_` nearest neighbour search structure.
103 ## 0.1.0 - 2018-07-05
105 - Changelog, license, readme.
106 - Class for RRT nodes.
107 - Base class for RRT planners.
108 - RRT primitive procedures:
110 - nearest neigbour search,
112 - steering procedure.
113 - RRT planner based on [LaValle1998] paper.
114 - Main program (input/output) with cmake file.
115 - Obstacles class (circle obstacle, segment obstacle).
116 - Collision check function to base RRT class.
117 - Bicycle car model used for collision check with car frame.
118 - Near vertices procedure.
119 - RRT\* planner based on [Karaman2011] paper.
120 - Alternative steering procedure.
121 - Reeds and Shepp cost, steering procedures.
122 - Bicycle car simulation.
123 - Closed loop controller with PI for speed and PurePursuit based on
124 [Coulter1992] paper for steering.
125 - Testing parking scenarios.
126 - Plot python script.
127 - RRT planner based on [Kuwata2008] paper.
128 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
129 rewire procedures) then the rest stick to the first node without rewiring.
130 - Cost log and legend with cost in plot.
133 - Adding JSON ouput for edges, samples.
134 - Steer procedure `st2` use bicycle car model.
138 - RRTNode heading overflow in constructor.
139 - Sampling range in `sa1` algorithm.