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 - 2d grid data structure for indexing nodes by `x` and `y` axes.
14 - Bicycle car geometry:
15 - Turning radius circle centers.
16 - Drivable space collision.
20 - Bidirectional T3 planner based on two T2 planners.
21 - RRT\*-Connect algorithm based on [Klemm2015] paper.
22 - Optimization procedure based on *Remove Redundant Points* from [Lan2015].
23 - Variable steer step size to `st3` procedure.
26 - Make `sample` procedure part of RRTBase.
27 - Make `cost` function part of RRTBase.
28 - Make `nn` procedure part of RRTBase.
29 - Make `nv` procedure part of RRTBase.
30 - Make `steer` procedure part of RRTBase.
31 - Refactor `gplot` module.
32 - T2 planner to include variable steer step size.
33 - Set T3 planner as default.
36 - RRTBase planner destructor. See `base/rrtbase.cc` for more info.
40 - Cost distribution plot function.
41 - Heading independent near vertices procedure inspired by `nn4`.
45 - `nn4` use Euclidean distance while independently on RRT framework cost used.
48 - `opt_part` procedure (unused).
51 - Dijkstra path optimization only if goal found.
52 - Workaround used for optimizing part of path. There is a bug that causes
53 collision when steering from `i` to `i + 1` node of path from `tlog`. See
58 - Optimize path until optimal.
62 - Compilation macros that can specify output binary parameters.
63 - Auxiliary build and test scripts.
64 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
65 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
66 - Near vertices `nv2` procedure based on indexing over `y` axis.
67 - OpenMP parallelization of nearest neighbour and near vertices procedures.
68 - Rebase method that changes (rebases) RRT root to another RRT node.
69 - Structure and method for logging tree edges.
70 - Time dimension to RRT node.
71 - Obstacle distance to RRT Node.
72 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
74 - OpenGL 2.1 plot using SDL2.
75 - `nn4` procedure - set node's heading to heading of currently comparing node.
76 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
77 - Update cost method of `RRTNode` that updates cumulative costs of all
82 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
83 - Main planning loop logic.
84 - Path optimization of `T2` based on Dijkstra between cusps points.
87 - Deletion of nodes returned by `steer` but not used.
88 - Scaling for `iy_` nearest neighbour search structure.
92 - Changelog, license, readme.
93 - Class for RRT nodes.
94 - Base class for RRT planners.
95 - RRT primitive procedures:
97 - nearest neigbour search,
100 - RRT planner based on [LaValle1998] paper.
101 - Main program (input/output) with cmake file.
102 - Obstacles class (circle obstacle, segment obstacle).
103 - Collision check function to base RRT class.
104 - Bicycle car model used for collision check with car frame.
105 - Near vertices procedure.
106 - RRT\* planner based on [Karaman2011] paper.
107 - Alternative steering procedure.
108 - Reeds and Shepp cost, steering procedures.
109 - Bicycle car simulation.
110 - Closed loop controller with PI for speed and PurePursuit based on
111 [Coulter1992] paper for steering.
112 - Testing parking scenarios.
113 - Plot python script.
114 - RRT planner based on [Kuwata2008] paper.
115 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
116 rewire procedures) then the rest stick to the first node without rewiring.
117 - Cost log and legend with cost in plot.
120 - Adding JSON ouput for edges, samples.
121 - Steer procedure `st2` use bicycle car model.
125 - RRTNode heading overflow in constructor.
126 - Sampling range in `sa1` algorithm.