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/
14 - Missing declaration.
18 - Right parallel parking slot planner.
19 - Shrinking length of parallel parking slot test.
20 - SlotPlanner *Find Init Pose* `fip()` method based on BFS.
21 - Reverse approach for finding "entry pose". See Vorobieva2015 for more info.
22 - SlotSide (LEFT, RIGHT) and SlotType (PARALLEL, PERPENDICULAR) methods for
24 - Information used for sampling getter.
25 - Slot planner working for perpendicular parking scenario also.
26 - Matej's heuristic cost.
27 - Perpendicular slot planner proposal.
28 - Random samples logging.
29 - Rotate scenario script.
30 - Obstacles to SlotPlanner.
34 - Make `T2` planner the default planner.
35 - Sampling info for different dimensions and angles of slot.
36 - Use reverse approach for finding init pose by default.
37 - Use `USE_GL` macro for build, in code.
42 ## 0.5.0 - 20109-02-26
44 - 2d grid data structure for indexing nodes by `x` and `y` axes.
46 - Bicycle car geometry:
47 - Turning radius circle centers.
48 - Drivable space collision.
49 - Slot planner for parallel parking.
53 - Bidirectional T3 planner based on two T2 planners.
54 - RRT\*-Connect algorithm based on [Klemm2015] paper.
55 - Optimization procedure based on *Remove Redundant Points* from [Lan2015].
56 - Variable steer step size to `st3` procedure.
59 - Make `sample` procedure part of RRTBase.
60 - Make `cost` function part of RRTBase.
61 - Make `nn` procedure part of RRTBase.
62 - Make `nv` procedure part of RRTBase.
63 - Make `steer` procedure part of RRTBase.
64 - Refactor `gplot` module.
65 - T2 planner to include variable steer step size.
66 - Set T3 planner as default.
69 - RRTBase planner destructor. See `base/rrtbase.cc` for more info.
73 - Cost distribution plot function.
74 - Heading independent near vertices procedure inspired by `nn4`.
78 - `nn4` use Euclidean distance while independently on RRT framework cost used.
81 - `opt_part` procedure (unused).
84 - Dijkstra path optimization only if goal found.
85 - Workaround used for optimizing part of path. There is a bug that causes
86 collision when steering from `i` to `i + 1` node of path from `tlog`. See
91 - Optimize path until optimal.
95 - Compilation macros that can specify output binary parameters.
96 - Auxiliary build and test scripts.
97 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
98 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
99 - Near vertices `nv2` procedure based on indexing over `y` axis.
100 - OpenMP parallelization of nearest neighbour and near vertices procedures.
101 - Rebase method that changes (rebases) RRT root to another RRT node.
102 - Structure and method for logging tree edges.
103 - Time dimension to RRT node.
104 - Obstacle distance to RRT Node.
105 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
107 - OpenGL 2.1 plot using SDL2.
108 - `nn4` procedure - set node's heading to heading of currently comparing node.
109 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
110 - Update cost method of `RRTNode` that updates cumulative costs of all
115 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
116 - Main planning loop logic.
117 - Path optimization of `T2` based on Dijkstra between cusps points.
120 - Deletion of nodes returned by `steer` but not used.
121 - Scaling for `iy_` nearest neighbour search structure.
123 ## 0.1.0 - 2018-07-05
125 - Changelog, license, readme.
126 - Class for RRT nodes.
127 - Base class for RRT planners.
128 - RRT primitive procedures:
130 - nearest neigbour search,
132 - steering procedure.
133 - RRT planner based on [LaValle1998] paper.
134 - Main program (input/output) with cmake file.
135 - Obstacles class (circle obstacle, segment obstacle).
136 - Collision check function to base RRT class.
137 - Bicycle car model used for collision check with car frame.
138 - Near vertices procedure.
139 - RRT\* planner based on [Karaman2011] paper.
140 - Alternative steering procedure.
141 - Reeds and Shepp cost, steering procedures.
142 - Bicycle car simulation.
143 - Closed loop controller with PI for speed and PurePursuit based on
144 [Coulter1992] paper for steering.
145 - Testing parking scenarios.
146 - Plot python script.
147 - RRT planner based on [Kuwata2008] paper.
148 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
149 rewire procedures) then the rest stick to the first node without rewiring.
150 - Cost log and legend with cost in plot.
153 - Adding JSON ouput for edges, samples.
154 - Steer procedure `st2` use bicycle car model.
158 - RRTNode heading overflow in constructor.
159 - Sampling range in `sa1` algorithm.