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 - Right parallel parking slot planner.
13 - Shrinking length of parallel parking slot test.
14 - SlotPlanner *Find Init Pose* `fip()` method based on BFS.
19 ## 0.5.0 - 20109-02-26
21 - 2d grid data structure for indexing nodes by `x` and `y` axes.
23 - Bicycle car geometry:
24 - Turning radius circle centers.
25 - Drivable space collision.
26 - Slot planner for parallel parking.
30 - Bidirectional T3 planner based on two T2 planners.
31 - RRT\*-Connect algorithm based on [Klemm2015] paper.
32 - Optimization procedure based on *Remove Redundant Points* from [Lan2015].
33 - Variable steer step size to `st3` procedure.
36 - Make `sample` procedure part of RRTBase.
37 - Make `cost` function part of RRTBase.
38 - Make `nn` procedure part of RRTBase.
39 - Make `nv` procedure part of RRTBase.
40 - Make `steer` procedure part of RRTBase.
41 - Refactor `gplot` module.
42 - T2 planner to include variable steer step size.
43 - Set T3 planner as default.
46 - RRTBase planner destructor. See `base/rrtbase.cc` for more info.
50 - Cost distribution plot function.
51 - Heading independent near vertices procedure inspired by `nn4`.
55 - `nn4` use Euclidean distance while independently on RRT framework cost used.
58 - `opt_part` procedure (unused).
61 - Dijkstra path optimization only if goal found.
62 - Workaround used for optimizing part of path. There is a bug that causes
63 collision when steering from `i` to `i + 1` node of path from `tlog`. See
68 - Optimize path until optimal.
72 - Compilation macros that can specify output binary parameters.
73 - Auxiliary build and test scripts.
74 - Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
75 - Nearest neighbour `nn3` procedure based on indexing over `y` axis.
76 - Near vertices `nv2` procedure based on indexing over `y` axis.
77 - OpenMP parallelization of nearest neighbour and near vertices procedures.
78 - Rebase method that changes (rebases) RRT root to another RRT node.
79 - Structure and method for logging tree edges.
80 - Time dimension to RRT node.
81 - Obstacle distance to RRT Node.
82 - Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
84 - OpenGL 2.1 plot using SDL2.
85 - `nn4` procedure - set node's heading to heading of currently comparing node.
86 - Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
87 - Update cost method of `RRTNode` that updates cumulative costs of all
92 - Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
93 - Main planning loop logic.
94 - Path optimization of `T2` based on Dijkstra between cusps points.
97 - Deletion of nodes returned by `steer` but not used.
98 - Scaling for `iy_` nearest neighbour search structure.
100 ## 0.1.0 - 2018-07-05
102 - Changelog, license, readme.
103 - Class for RRT nodes.
104 - Base class for RRT planners.
105 - RRT primitive procedures:
107 - nearest neigbour search,
109 - steering procedure.
110 - RRT planner based on [LaValle1998] paper.
111 - Main program (input/output) with cmake file.
112 - Obstacles class (circle obstacle, segment obstacle).
113 - Collision check function to base RRT class.
114 - Bicycle car model used for collision check with car frame.
115 - Near vertices procedure.
116 - RRT\* planner based on [Karaman2011] paper.
117 - Alternative steering procedure.
118 - Reeds and Shepp cost, steering procedures.
119 - Bicycle car simulation.
120 - Closed loop controller with PI for speed and PurePursuit based on
121 [Coulter1992] paper for steering.
122 - Testing parking scenarios.
123 - Plot python script.
124 - RRT planner based on [Kuwata2008] paper.
125 - RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
126 rewire procedures) then the rest stick to the first node without rewiring.
127 - Cost log and legend with cost in plot.
130 - Adding JSON ouput for edges, samples.
131 - Steer procedure `st2` use bicycle car model.
135 - RRTNode heading overflow in constructor.
136 - Sampling range in `sa1` algorithm.