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