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 - Changelog, license, readme.
13 - Class for RRT nodes.
14 - Base class for RRT planners.
15 - RRT primitive procedures:
17 - nearest neigbour search,
20 - RRT planner based on [LaValle1998] paper.
21 - Main program (input/output) with cmake file.
22 - Obstacles class (circle obstacle, segment obstacle).
23 - Collision check function to base RRT class.
24 - Bicycle car model used for collision check with car frame.
25 - Near vertices procedure.
26 - RRT\* planner based on [Karaman2011] paper.
27 - Alternative steering procedure.
28 - Reeds and Shepp cost, steering procedures.
29 - Bicycle car simulation.
30 - Closed loop controller with PI for speed and PurePursuit based on
31 [Coulter1992] paper for steering.
32 - Testing parking scenarios.
34 - RRT planner based on [Kuwata2008] paper.
35 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
36 rewire procedures) then the rest stick to the first node without rewiring.
39 - Adding JSON ouput for edges, samples.
43 - RRTNode heading overflow in constructor.
44 - Sampling range in `sa1` algorithm.