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