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rtime.felk.cvut.cz Git - hubacji1/iamcar.git/log
Jiri Vlasak [Mon, 25 Feb 2019 16:09:41 +0000 (17:09 +0100)]
Add time functions to main
Jiri Vlasak [Mon, 25 Feb 2019 16:09:10 +0000 (17:09 +0100)]
Add find init pose for parallel slot method
Jiri Vlasak [Mon, 25 Feb 2019 15:42:37 +0000 (16:42 +0100)]
Add DH setter
Jiri Vlasak [Mon, 25 Feb 2019 15:33:33 +0000 (16:33 +0100)]
Add length, wheelbase, width getters to bcar
Jiri Vlasak [Mon, 25 Feb 2019 15:20:13 +0000 (16:20 +0100)]
Add diagonal radius to bcar
Jiri Vlasak [Mon, 25 Feb 2019 15:14:04 +0000 (16:14 +0100)]
Add find last pose method
Jiri Vlasak [Mon, 25 Feb 2019 15:13:29 +0000 (16:13 +0100)]
Add collide for non-constant edges
Jiri Vlasak [Mon, 25 Feb 2019 14:35:31 +0000 (15:35 +0100)]
Add cusp, DH getters
Jiri Vlasak [Mon, 25 Feb 2019 14:24:12 +0000 (15:24 +0100)]
Add move method to rotate new node
Jiri Vlasak [Mon, 25 Feb 2019 14:14:51 +0000 (15:14 +0100)]
Add method to get init pose center from slot
Jiri Vlasak [Mon, 25 Feb 2019 13:43:00 +0000 (14:43 +0100)]
Use slot in main, plot
Jiri Vlasak [Mon, 25 Feb 2019 13:41:11 +0000 (14:41 +0100)]
Add parallel planner constructor
Jiri Vlasak [Mon, 25 Feb 2019 12:40:43 +0000 (13:40 +0100)]
Add slot to scenario
Jiri Vlasak [Mon, 25 Feb 2019 12:31:34 +0000 (13:31 +0100)]
Fix collide with edge method of PolynomObstacle
Jiri Vlasak [Mon, 25 Feb 2019 12:23:31 +0000 (13:23 +0100)]
Add PolygonObstacle frame method
Jiri Vlasak [Mon, 25 Feb 2019 12:11:13 +0000 (13:11 +0100)]
Add slot planner skeleton
Jiri Vlasak [Tue, 26 Feb 2019 09:19:44 +0000 (10:19 +0100)]
Merge branch 'feature/polygon-drivable'
Jiri Vlasak [Tue, 26 Feb 2019 09:19:37 +0000 (10:19 +0100)]
Update changelog
Jiri Vlasak [Tue, 19 Feb 2019 09:58:05 +0000 (10:58 +0100)]
Add drivable method to bcar
Return `true` if `bcar` may drive to node.
Jiri Vlasak [Tue, 19 Feb 2019 09:34:51 +0000 (10:34 +0100)]
Add turning radius circle centers of car
Jiri Vlasak [Tue, 19 Feb 2019 09:12:45 +0000 (10:12 +0100)]
Add coordinates abreast with the rear axle
Jiri Vlasak [Tue, 19 Feb 2019 09:05:15 +0000 (10:05 +0100)]
Add RRTEdge intersection method
Jiri Vlasak [Tue, 19 Feb 2019 08:51:02 +0000 (09:51 +0100)]
Add corner getters to bcar
Jiri Vlasak [Tue, 19 Feb 2019 07:00:43 +0000 (08:00 +0100)]
Create polygon from scenario bordering segments
Jiri Vlasak [Mon, 18 Feb 2019 14:34:56 +0000 (15:34 +0100)]
Add polygon obstacle
Jiri Vlasak [Mon, 18 Feb 2019 11:35:47 +0000 (12:35 +0100)]
Fix nothing done statistics output
Jiri Vlasak [Mon, 18 Feb 2019 09:28:29 +0000 (10:28 +0100)]
Make polygon from parking scenario borders
Jiri Vlasak [Mon, 21 Jan 2019 11:47:58 +0000 (12:47 +0100)]
Add nothing done statistics
Jiri Vlasak [Wed, 23 Jan 2019 15:38:14 +0000 (16:38 +0100)]
Merge branch 'feature/2d-grid'
Jiri Vlasak [Wed, 23 Jan 2019 15:38:06 +0000 (16:38 +0100)]
Update changelog
Jiri Vlasak [Wed, 23 Jan 2019 15:01:57 +0000 (16:01 +0100)]
Run connect trees of T3 only if goal found
Jiri Vlasak [Wed, 23 Jan 2019 15:00:18 +0000 (16:00 +0100)]
Add escape-from-loop in overlap trees of T3
Jiri Vlasak [Fri, 18 Jan 2019 09:06:01 +0000 (10:06 +0100)]
Fix negative cost of final path
Jiri Vlasak [Thu, 17 Jan 2019 09:51:01 +0000 (10:51 +0100)]
Stop when nodes().size() overflow
Jiri Vlasak [Wed, 16 Jan 2019 15:59:46 +0000 (16:59 +0100)]
Change overlap trees procedure
To be compatible with 2d indexing structure.
Jiri Vlasak [Wed, 16 Jan 2019 15:34:14 +0000 (16:34 +0100)]
Update T2 with adding to `ixy_` data structure
Jiri Vlasak [Wed, 16 Jan 2019 15:15:54 +0000 (16:15 +0100)]
Add structure for indexing by x, y axes to RRTBase
Jiri Vlasak [Wed, 16 Jan 2019 14:55:38 +0000 (15:55 +0100)]
Add `Cell` class
Cell is used in 2d indexing structure `ixy_` of `RRTBase`. It contains
vector of pointers to `RRTNode`, boolean variable that tells if node was
added and the mutex to lock atomic operations.
Cell is used in 2d grid similarly as simple vector of pointers to
`RRTNode` in `iy_` indexing structure.
Jiri Vlasak [Wed, 16 Jan 2019 13:28:23 +0000 (14:28 +0100)]
Add x-axis indexing defines
Also, set the maximum size of y-axis indexing to 100.
Jiri Vlasak [Wed, 16 Jan 2019 13:18:51 +0000 (14:18 +0100)]
Update readme with using T2 note
Jiri Vlasak [Wed, 16 Jan 2019 15:03:39 +0000 (16:03 +0100)]
Merge branch 'release/0.4.0'
Jiri Vlasak [Wed, 16 Jan 2019 15:02:07 +0000 (16:02 +0100)]
Release version 0.4.0
### 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.
Jiri Vlasak [Wed, 16 Jan 2019 09:08:01 +0000 (10:08 +0100)]
Merge branch 'feature/pthread'
Jiri Vlasak [Wed, 16 Jan 2019 09:02:25 +0000 (10:02 +0100)]
Set T3 as default planner
Jiri Vlasak [Wed, 16 Jan 2019 08:51:28 +0000 (09:51 +0100)]
Add howto enable address sanitizer
Jiri Vlasak [Tue, 15 Jan 2019 15:06:07 +0000 (16:06 +0100)]
Prevent running `findt()` twice
It should be run only in T3 planner.
Jiri Vlasak [Fri, 11 Jan 2019 13:15:28 +0000 (14:15 +0100)]
Remove colliding `ns` in T2::next()
Jiri Vlasak [Tue, 15 Jan 2019 11:49:35 +0000 (12:49 +0100)]
Add initialization for connect trees procedure
Different nodes start the connection between trees based on which tree
has found the goal.
Jiri Vlasak [Mon, 14 Jan 2019 15:17:42 +0000 (16:17 +0100)]
Set T3 goal found when trees overlap
Jiri Vlasak [Mon, 14 Jan 2019 15:16:50 +0000 (16:16 +0100)]
Refactor goal found procedure
Jiri Vlasak [Sun, 13 Jan 2019 15:48:38 +0000 (16:48 +0100)]
Add connect trees
Jiri Vlasak [Sun, 13 Jan 2019 15:30:21 +0000 (16:30 +0100)]
Add trees overlap check
Jiri Vlasak [Sun, 13 Jan 2019 15:28:17 +0000 (16:28 +0100)]
Remove path optimization from next run
Jiri Vlasak [Sun, 13 Jan 2019 15:27:05 +0000 (16:27 +0100)]
Set static size for nodes vector
Jiri Vlasak [Fri, 11 Jan 2019 13:54:34 +0000 (14:54 +0100)]
Fix heap-use-after-free error when T3 is used
As T3 shares some resources with two T2 planners `p_root_` and `p_goal_`
the problem with descructors occures.
Therefore, all the code needed for destructing T3 planner and both T2
planners (`p_root_` and `p_goal_`) is in T3 destructor method
(`T3::~T3()`) and T2 destructor (and its parent destructors) must not be
called.
If only T2 planner should be used, this patch has to be *reverted*.
Jiri Vlasak [Fri, 11 Jan 2019 12:34:44 +0000 (13:34 +0100)]
Add T3 destructor
Jiri Vlasak [Fri, 11 Jan 2019 09:41:29 +0000 (10:41 +0100)]
Fix memory leak in path optimization procedure
Jiri Vlasak [Thu, 10 Jan 2019 11:29:32 +0000 (12:29 +0100)]
Enable Karaman2011, T3 as global variables
Jiri Vlasak [Wed, 9 Jan 2019 18:48:13 +0000 (19:48 +0100)]
Fix next return in T3
Jiri Vlasak [Wed, 9 Jan 2019 16:18:59 +0000 (17:18 +0100)]
Add pthread to main, set it as default
Jiri Vlasak [Wed, 9 Jan 2019 16:17:09 +0000 (17:17 +0100)]
Change inner planners of T3 to public
Jiri Vlasak [Tue, 8 Jan 2019 14:05:52 +0000 (15:05 +0100)]
Merge branch 'feature/variable-steer-step'
Jiri Vlasak [Tue, 8 Jan 2019 13:50:05 +0000 (14:50 +0100)]
Update T2 with variable steer step
Jiri Vlasak [Tue, 8 Jan 2019 13:01:19 +0000 (14:01 +0100)]
Update steer procedure with step variable
Jiri Vlasak [Mon, 7 Jan 2019 15:09:38 +0000 (16:09 +0100)]
Refactor macros in main
Jiri Vlasak [Mon, 7 Jan 2019 14:35:00 +0000 (15:35 +0100)]
Update plot
Decide if there are some edges to plot and plot just one figure if not.
Jiri Vlasak [Mon, 7 Jan 2019 13:50:40 +0000 (14:50 +0100)]
Fix bounding obstacle in plot
Jiri Vlasak [Mon, 7 Jan 2019 13:35:00 +0000 (14:35 +0100)]
Update readme
Jiri Vlasak [Mon, 7 Jan 2019 12:58:14 +0000 (13:58 +0100)]
Merge branch 'feature/refactor'
Jiri Vlasak [Mon, 7 Jan 2019 12:47:39 +0000 (13:47 +0100)]
Update hatch, remove unused
Jiri Vlasak [Mon, 7 Jan 2019 12:38:36 +0000 (13:38 +0100)]
Update font size, figure title
Jiri Vlasak [Mon, 7 Jan 2019 12:36:57 +0000 (13:36 +0100)]
Update gplot log sources
Jiri Vlasak [Mon, 7 Jan 2019 10:02:01 +0000 (11:02 +0100)]
Add example scenarios
Jiri Vlasak [Fri, 21 Dec 2018 15:03:36 +0000 (16:03 +0100)]
Merge branch 'feature/refactor-opt'
Jiri Vlasak [Fri, 21 Dec 2018 15:00:00 +0000 (16:00 +0100)]
Fix plot all trajectories in plot script
Jiri Vlasak [Fri, 21 Dec 2018 13:02:47 +0000 (14:02 +0100)]
Update test script
Create log directory structure automatically based on binaries.
Jiri Vlasak [Fri, 21 Dec 2018 12:46:28 +0000 (13:46 +0100)]
Update binaries file naming convention
Jiri Vlasak [Fri, 21 Dec 2018 12:44:40 +0000 (13:44 +0100)]
Add optimization procedure based on Lan2015
Jiri Vlasak [Fri, 21 Dec 2018 12:39:38 +0000 (13:39 +0100)]
Rename circle/segment obstacles getter
The name collides with `cos` math function.
Jiri Vlasak [Fri, 21 Dec 2018 08:55:04 +0000 (09:55 +0100)]
Add commented options for nn, cusps
Jiri Vlasak [Fri, 21 Dec 2018 08:54:02 +0000 (09:54 +0100)]
Update nn3 with co2
Jiri Vlasak [Tue, 18 Dec 2018 11:57:35 +0000 (12:57 +0100)]
Jiri Vlasak [Mon, 17 Dec 2018 17:01:09 +0000 (18:01 +0100)]
Fix adding optimized path
Jiri Vlasak [Mon, 17 Dec 2018 17:00:16 +0000 (18:00 +0100)]
Fix tmp cusps overflow
Jiri Vlasak [Mon, 17 Dec 2018 12:47:50 +0000 (13:47 +0100)]
Add optimize procedure from Islam2012
Jiri Vlasak [Mon, 17 Dec 2018 09:24:14 +0000 (10:24 +0100)]
Split opt procedure from tips nodes gathering
Jiri Vlasak [Mon, 17 Dec 2018 08:51:50 +0000 (09:51 +0100)]
Rename Dijkstra-based path optimization procedure
Jiri Vlasak [Fri, 21 Dec 2018 08:59:44 +0000 (09:59 +0100)]
Merge branch 'feature/refactor-gplot'
Jiri Vlasak [Fri, 21 Dec 2018 08:59:19 +0000 (09:59 +0100)]
Update changelog
Jiri Vlasak [Fri, 21 Dec 2018 08:51:31 +0000 (09:51 +0100)]
Add binaries file naming convention
Jiri Vlasak [Fri, 21 Dec 2018 08:22:55 +0000 (09:22 +0100)]
Remove unused functions
Jiri Vlasak [Fri, 21 Dec 2018 08:18:38 +0000 (09:18 +0100)]
Refactor print functions in gplot
Because data structure of LOG changed.
Jiri Vlasak [Fri, 21 Dec 2018 07:14:39 +0000 (08:14 +0100)]
Refactor plot costdist in gplot
Because data structure of LOG changed.
Jiri Vlasak [Fri, 21 Dec 2018 07:06:11 +0000 (08:06 +0100)]
Refactor plot maxtime in gplot
- Change the data structure of LOG.
- Load logs (trajectories) in main.
Jiri Vlasak [Fri, 14 Dec 2018 15:58:49 +0000 (16:58 +0100)]
Fix load file behavior
Jiri Vlasak [Fri, 14 Dec 2018 15:54:33 +0000 (16:54 +0100)]
Fix path optimization procedure
- Use `cost` from planner class.
- Update path even if goal not found.
- Fix adding nodes after steering.
- Update all the costs in tree.
Jiri Vlasak [Fri, 14 Dec 2018 14:28:55 +0000 (15:28 +0100)]
Refactor findt() procedure
Jiri Vlasak [Fri, 14 Dec 2018 14:28:00 +0000 (15:28 +0100)]
Fix adding child in RRT* connect
Jiri Vlasak [Thu, 13 Dec 2018 09:36:54 +0000 (10:36 +0100)]
Fix path optimization procedure collisions
Jiri Vlasak [Mon, 10 Dec 2018 09:53:28 +0000 (10:53 +0100)]
Merge branch 'refactor'