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 - Bidirectional T3 planner based on two T2 planners.
13 - RRT\*-Connect algorithm based on [Klemm2015] paper.
16 - Make `sample` procedure part of RRTBase.
17 - Make `cost` function part of RRTBase.
18 - Make `nn` procedure part of RRTBase.
19 - Make `nv` procedure part of RRTBase.
20 - Make `steer` procedure part of RRTBase.
24 - Cost distribution plot function.
25 - Heading independent near vertices procedure inspired by `nn4`.
29 - `nn4` use Euclidean distance while independently on RRT framework cost used.
32 - `opt_part` procedure (unused).
35 - Dijkstra path optimization only if goal found.
36 - Workaround used for optimizing part of path. There is a bug that causes
37 collision when steering from `i` to `i + 1` node of path from `tlog`. See
42 - Optimize path until optimal.
46 - Compilation macros that can specify output binary parameters.
47 - Auxiliary build and test scripts.
48 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
49 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
50 - Near vertices `nv2` procedure based on indexing over `y` axis.
51 - OpenMP parallelization of nearest neighbour and near vertices procedures.
52 - Rebase method that changes (rebases) RRT root to another RRT node.
53 - Structure and method for logging tree edges.
54 - Time dimension to RRT node.
55 - Obstacle distance to RRT Node.
56 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
58 - OpenGL 2.1 plot using SDL2.
59 - `nn4` procedure - set node's heading to heading of currently comparing node.
60 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
61 - Update cost method of `RRTNode` that updates cumulative costs of all
66 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
67 - Main planning loop logic.
68 - Path optimization of `T2` based on Dijkstra between cusps points.
71 - Deletion of nodes returned by `steer` but not used.
72 - Scaling for `iy_` nearest neighbour search structure.
76 - Changelog, license, readme.
77 - Class for RRT nodes.
78 - Base class for RRT planners.
79 - RRT primitive procedures:
81 - nearest neigbour search,
84 - RRT planner based on [LaValle1998] paper.
85 - Main program (input/output) with cmake file.
86 - Obstacles class (circle obstacle, segment obstacle).
87 - Collision check function to base RRT class.
88 - Bicycle car model used for collision check with car frame.
89 - Near vertices procedure.
90 - RRT\* planner based on [Karaman2011] paper.
91 - Alternative steering procedure.
92 - Reeds and Shepp cost, steering procedures.
93 - Bicycle car simulation.
94 - Closed loop controller with PI for speed and PurePursuit based on
95 [Coulter1992] paper for steering.
96 - Testing parking scenarios.
98 - RRT planner based on [Kuwata2008] paper.
99 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
100 rewire procedures) then the rest stick to the first node without rewiring.
101 - Cost log and legend with cost in plot.
104 - Adding JSON ouput for edges, samples.
105 - Steer procedure `st2` use bicycle car model.
109 - RRTNode heading overflow in constructor.
110 - Sampling range in `sa1` algorithm.