[Semantic Versioning]: http://semver.org/
## Unreleased
+
+## 0.4.0 - 2019-01-16
+### Added
+- Bidirectional T3 planner based on two T2 planners.
+- RRT\*-Connect algorithm based on [Klemm2015] paper.
+- Optimization procedure based on *Remove Redundant Points* from [Lan2015].
+- Variable steer step size to `st3` procedure.
+
+### Changed
+- Make `sample` procedure part of RRTBase.
+- Make `cost` function part of RRTBase.
+- Make `nn` procedure part of RRTBase.
+- Make `nv` procedure part of RRTBase.
+- Make `steer` procedure part of RRTBase.
+- Refactor `gplot` module.
+- T2 planner to include variable steer step size.
+- Set T3 planner as default.
+
+### Removed
+- RRTBase planner destructor. See `base/rrtbase.cc` for more info.
+
+## 0.3.0 - 2018-12-03
+### Added
+- Cost distribution plot function.
+- Heading independent near vertices procedure inspired by `nn4`.
+
+### Changed
+- Test script.
+- `nn4` use Euclidean distance while independently on RRT framework cost used.
+
+### Removed
+- `opt_part` procedure (unused).
+
+### Fixed
+- Dijkstra path optimization only if goal found.
+- Workaround used for optimizing part of path. There is a bug that causes
+ collision when steering from `i` to `i + 1` node of path from `tlog`. See
+ commit `9186f27`.
+
+## 0.2.1 - 2018-10-06
+### Fixed
+- Optimize path until optimal.
+
+## 0.2.0 - 2018-10-06
+### Added
+- Compilation macros that can specify output binary parameters.
+- Auxiliary build and test scripts.
+- Nearest neighbour `nn2` procedure based on linear search over `nodes()`.
+- Nearest neighbour `nn3` procedure based on indexing over `y` axis.
+- Near vertices `nv2` procedure based on indexing over `y` axis.
+- OpenMP parallelization of nearest neighbour and near vertices procedures.
+- Rebase method that changes (rebases) RRT root to another RRT node.
+- Structure and method for logging tree edges.
+- Time dimension to RRT node.
+- Obstacle distance to RRT Node.
+- Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
+ nodes to goal.
+- OpenGL 2.1 plot using SDL2.
+- `nn4` procedure - set node's heading to heading of currently comparing node.
+- Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
+- Update cost method of `RRTNode` that updates cumulative costs of all
+ children.
+
+### Changed
+- Build with Ninja.
+- Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
+- Main planning loop logic.
+- Path optimization of `T2` based on Dijkstra between cusps points.
+
+### Fixed
+- Deletion of nodes returned by `steer` but not used.
+- Scaling for `iy_` nearest neighbour search structure.
+
+## 0.1.0 - 2018-07-05
### Added
- Changelog, license, readme.
- Class for RRT nodes.
- Obstacles class (circle obstacle, segment obstacle).
- Collision check function to base RRT class.
- Bicycle car model used for collision check with car frame.
+- Near vertices procedure.
+- RRT\* planner based on [Karaman2011] paper.
+- Alternative steering procedure.
+- Reeds and Shepp cost, steering procedures.
+- Bicycle car simulation.
+- Closed loop controller with PI for speed and PurePursuit based on
+ [Coulter1992] paper for steering.
+- Testing parking scenarios.
+- Plot python script.
+- RRT planner based on [Kuwata2008] paper.
+- RRT testing planner `T1`. First node of steer add as in RRT\* (connect and
+ rewire procedures) then the rest stick to the first node without rewiring.
+- Cost log and legend with cost in plot.
+
+### Changed
+- Adding JSON ouput for edges, samples.
+- Steer procedure `st2` use bicycle car model.
+
+### Fixed
+- Memory leaks.
+- RRTNode heading overflow in constructor.
+- Sampling range in `sa1` algorithm.
projects / hubacji1 / iamcar.git / blobdiff