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rtime.felk.cvut.cz Git - hubacji1/iamcar.git/log
Jiri Vlasak [Mon, 4 Mar 2019 18:05:46 +0000 (19:05 +0100)]
Add sampling info struct
Jiri Vlasak [Mon, 4 Mar 2019 17:33:19 +0000 (18:33 +0100)]
Use macros for car dimensions
Jiri Vlasak [Mon, 4 Mar 2019 17:14:41 +0000 (18:14 +0100)]
Add slot type getter
Jiri Vlasak [Mon, 4 Mar 2019 16:49:06 +0000 (17:49 +0100)]
Use first slot node as rotate center
Jiri Vlasak [Mon, 25 Feb 2019 12:36:38 +0000 (13:36 +0100)]
Revert "Revert "Update parallel parking scenario dimensions""
This reverts commit
210333b206d999fdd0f45eb4bd2e91590f1d1fdf .
Jiri Vlasak [Fri, 15 Feb 2019 12:06:54 +0000 (13:06 +0100)]
Use T2 planner
Jiri Vlasak [Wed, 9 Jan 2019 14:26:27 +0000 (15:26 +0100)]
Revert "Update parallel parking scenario dimensions"
This reverts commit
43a55617c8b88829f0cbd42d0e3ed4e27b99263b .
Jiri Vlasak [Wed, 23 Jan 2019 17:08:45 +0000 (18:08 +0100)]
Revert "Prevent running `findt()` twice"
This reverts commit
360ad9eb7f9b2fc8261f7fafa464c3ae0e5ccda5 .
Jiri Vlasak [Wed, 23 Jan 2019 15:03:20 +0000 (16:03 +0100)]
Add commented steer instead of overlap in T3
Jiri Vlasak [Mon, 4 Mar 2019 16:34:54 +0000 (17:34 +0100)]
Merge branch 'feature/slotplanner-fip-bfs'
Jiri Vlasak [Mon, 4 Mar 2019 16:34:47 +0000 (17:34 +0100)]
Update changelog
Jiri Vlasak [Mon, 4 Mar 2019 16:03:25 +0000 (17:03 +0100)]
Fix required named argument
Jiri Vlasak [Mon, 4 Mar 2019 15:58:56 +0000 (16:58 +0100)]
Add flnc() method
Jiri Vlasak [Mon, 4 Mar 2019 15:27:55 +0000 (16:27 +0100)]
Add return part of fip()
Jiri Vlasak [Mon, 4 Mar 2019 15:27:05 +0000 (16:27 +0100)]
Add BicycleCar parent
Jiri Vlasak [Mon, 4 Mar 2019 14:57:19 +0000 (15:57 +0100)]
Add BFS proposal to fip()
Jiri Vlasak [Mon, 4 Mar 2019 14:16:02 +0000 (15:16 +0100)]
Add fip() skeleton
Jiri Vlasak [Wed, 27 Feb 2019 06:36:09 +0000 (07:36 +0100)]
Add macro to enable/disable slot planner
Jiri Vlasak [Mon, 4 Mar 2019 16:27:49 +0000 (17:27 +0100)]
Merge branch 'feature/measurement'
Jiri Vlasak [Mon, 4 Mar 2019 16:27:12 +0000 (17:27 +0100)]
Update changelog
Jiri Vlasak [Mon, 4 Mar 2019 09:12:26 +0000 (10:12 +0100)]
Update graph plot for SlotPlanner
Jiri Vlasak [Mon, 4 Mar 2019 09:04:53 +0000 (10:04 +0100)]
Add script for shrinking test
Shrink the length of parallel parking scenario.
Jiri Vlasak [Mon, 4 Mar 2019 09:04:04 +0000 (10:04 +0100)]
Update #experiments
Jiri Vlasak [Wed, 27 Feb 2019 09:31:20 +0000 (10:31 +0100)]
Add result plot to gplot
Jiri Vlasak [Wed, 27 Feb 2019 08:51:04 +0000 (09:51 +0100)]
Add confidence interval computation
Jiri Vlasak [Wed, 27 Feb 2019 08:11:05 +0000 (09:11 +0100)]
Load elapsed times in gplot
Jiri Vlasak [Wed, 27 Feb 2019 08:09:00 +0000 (09:09 +0100)]
Use just T2 planner results
Jiri Vlasak [Wed, 27 Feb 2019 08:06:25 +0000 (09:06 +0100)]
Add get val function to gplot
Jiri Vlasak [Wed, 27 Feb 2019 07:01:09 +0000 (08:01 +0100)]
Add log dir name parameter to test script
Jiri Vlasak [Wed, 27 Feb 2019 06:36:09 +0000 (07:36 +0100)]
Add macro to enable/disable slot planner
Jiri Vlasak [Tue, 26 Feb 2019 15:30:44 +0000 (16:30 +0100)]
Add global time measurement to main
Jiri Vlasak [Tue, 26 Feb 2019 14:25:04 +0000 (15:25 +0100)]
Merge branch 'feature/generalize-parallel-parking'
Jiri Vlasak [Tue, 26 Feb 2019 14:24:55 +0000 (15:24 +0100)]
Update changelog
Jiri Vlasak [Tue, 26 Feb 2019 14:16:57 +0000 (15:16 +0100)]
Fix final conditions for right parking slot
Jiri Vlasak [Tue, 26 Feb 2019 13:14:49 +0000 (14:14 +0100)]
Update rpar scenario with parking slot segment
Jiri Vlasak [Tue, 26 Feb 2019 13:14:25 +0000 (14:14 +0100)]
Add right parking slot to find pose
Jiri Vlasak [Tue, 26 Feb 2019 12:35:29 +0000 (13:35 +0100)]
First solution of parallel parking is enough
Jiri Vlasak [Tue, 26 Feb 2019 09:25:50 +0000 (10:25 +0100)]
Merge branch 'release/0.5.0'
Jiri Vlasak [Tue, 26 Feb 2019 09:24:55 +0000 (10:24 +0100)]
Release version 0.5.0
### Added
- 2d grid data structure for indexing nodes by `x` and `y` axes.
- Polygon obstacle.
- Bicycle car geometry:
- Turning radius circle centers.
- Drivable space collision.
- Slot planner for parallel parking.
Jiri Vlasak [Tue, 26 Feb 2019 09:21:00 +0000 (10:21 +0100)]
Merge branch 'feature/slotplanner'
Jiri Vlasak [Tue, 26 Feb 2019 09:20:44 +0000 (10:20 +0100)]
Update changelog
Jiri Vlasak [Tue, 26 Feb 2019 09:02:03 +0000 (10:02 +0100)]
Use ParallelParking in main
Jiri Vlasak [Tue, 26 Feb 2019 09:01:49 +0000 (10:01 +0100)]
Plot entry (to parking slot) node
Jiri Vlasak [Tue, 26 Feb 2019 08:04:03 +0000 (09:04 +0100)]
Add slot cusp to RRTBase
Jiri Vlasak [Tue, 26 Feb 2019 07:35:42 +0000 (08:35 +0100)]
Fix flast, fpose of ParallelParking
Jiri Vlasak [Tue, 26 Feb 2019 07:33:36 +0000 (08:33 +0100)]
Plot goal from trajectory file
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