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rtime.felk.cvut.cz Git - hubacji1/iamcar.git/log
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'
Jiri Vlasak [Mon, 10 Dec 2018 09:45:15 +0000 (10:45 +0100)]
Fix minor refactor issues
- Forget `ST`.
- Forget `NNVERSION`.
Jiri Vlasak [Mon, 10 Dec 2018 09:32:33 +0000 (10:32 +0100)]
Update build script
Jiri Vlasak [Mon, 10 Dec 2018 09:30:25 +0000 (10:30 +0100)]
Make `steer` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 09:23:47 +0000 (10:23 +0100)]
Make `nv` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 09:01:23 +0000 (10:01 +0100)]
Make `nn` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 08:41:24 +0000 (09:41 +0100)]
Make `cost` function part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 07:56:30 +0000 (08:56 +0100)]
Make `sample` procedure part of RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 07:54:58 +0000 (08:54 +0100)]
Add plot nodes from goal
Jiri Vlasak [Mon, 10 Dec 2018 07:40:27 +0000 (08:40 +0100)]
Add section comments to RRTBase
Jiri Vlasak [Mon, 10 Dec 2018 07:20:34 +0000 (08:20 +0100)]
Merge branch 'feature/rrtstart-connect'
Jiri Vlasak [Mon, 10 Dec 2018 07:19:53 +0000 (08:19 +0100)]
Update changelog
Jiri Vlasak [Thu, 6 Dec 2018 10:10:00 +0000 (11:10 +0100)]
Fix goal found for Klemm2015
Jiri Vlasak [Thu, 6 Dec 2018 08:20:45 +0000 (09:20 +0100)]
Add commented DEBUG print output
Jiri Vlasak [Thu, 6 Dec 2018 08:19:34 +0000 (09:19 +0100)]
Add Extend* procedure for Connect*
Jiri Vlasak [Thu, 6 Dec 2018 08:18:16 +0000 (09:18 +0100)]
Add Extend* procedure
Jiri Vlasak [Thu, 6 Dec 2018 07:47:31 +0000 (08:47 +0100)]
Fix Klemm2015 constructor
Jiri Vlasak [Wed, 5 Dec 2018 13:21:05 +0000 (14:21 +0100)]
Add root, goal affinity in Klemm2015 constructor
Jiri Vlasak [Wed, 5 Dec 2018 12:59:59 +0000 (13:59 +0100)]
Add Connect* procedure
Jiri Vlasak [Wed, 5 Dec 2018 12:39:48 +0000 (13:39 +0100)]
Add RRT*-Connect main loop
Jiri Vlasak [Mon, 3 Dec 2018 15:49:37 +0000 (16:49 +0100)]
Add next NN/NV VERSION
Jiri Vlasak [Mon, 3 Dec 2018 15:03:44 +0000 (16:03 +0100)]
Add nv2 with tree affinity
Jiri Vlasak [Mon, 3 Dec 2018 15:01:37 +0000 (16:01 +0100)]
Add nn5 with tree affinity
Jiri Vlasak [Mon, 3 Dec 2018 12:45:44 +0000 (13:45 +0100)]
Add nodes tree affinity
This allows developing of advanced RRT algorithms as RRT*-Connect.
Jiri Vlasak [Mon, 3 Dec 2018 12:41:04 +0000 (13:41 +0100)]
Add swap trees procedure
Jiri Vlasak [Mon, 3 Dec 2018 09:51:56 +0000 (10:51 +0100)]
Add RRT*-Connect [Klemm2015] skeleton
Jiri Vlasak [Mon, 10 Dec 2018 06:14:13 +0000 (07:14 +0100)]
Plot percentile only if some data
Jiri Vlasak [Sun, 9 Dec 2018 21:08:11 +0000 (22:08 +0100)]
Set global variables for graph plot
Jiri Vlasak [Mon, 10 Dec 2018 07:04:26 +0000 (08:04 +0100)]
Update parallel parking scenario dimensions
- Set smaller slot.
Jiri Vlasak [Fri, 7 Dec 2018 17:51:14 +0000 (18:51 +0100)]
Merge branch 'feature/T3'
Jiri Vlasak [Fri, 7 Dec 2018 17:50:34 +0000 (18:50 +0100)]
Update changelog
Jiri Vlasak [Fri, 7 Dec 2018 17:48:33 +0000 (18:48 +0100)]
Remove search for approximate goal
Jiri Vlasak [Fri, 7 Dec 2018 17:45:34 +0000 (18:45 +0100)]
Update test script with T2, T3 testing
Jiri Vlasak [Fri, 7 Dec 2018 17:44:45 +0000 (18:44 +0100)]
Update graph plot with T2, T3 testing
Jiri Vlasak [Fri, 7 Dec 2018 17:40:38 +0000 (18:40 +0100)]
Optimize path only once when path found
Jiri Vlasak [Fri, 7 Dec 2018 17:34:46 +0000 (18:34 +0100)]
Add tree overlap procedure
Jiri Vlasak [Fri, 7 Dec 2018 17:02:48 +0000 (18:02 +0100)]
Fix infinitive loop in find trajectory procedure
Jiri Vlasak [Fri, 7 Dec 2018 14:41:31 +0000 (15:41 +0100)]
Add goal found setter
Jiri Vlasak [Fri, 7 Dec 2018 14:22:39 +0000 (15:22 +0100)]
Add check for tree connection
Jiri Vlasak [Fri, 7 Dec 2018 14:18:48 +0000 (15:18 +0100)]
Add tree connection procedure
This procedure connects two trees when their nodes are close enough.
Jiri Vlasak [Fri, 7 Dec 2018 13:16:56 +0000 (14:16 +0100)]
Add T3 basic loop (next procedure)
Jiri Vlasak [Fri, 7 Dec 2018 13:16:08 +0000 (14:16 +0100)]
Fix link obstacles for T3
Jiri Vlasak [Fri, 7 Dec 2018 12:42:12 +0000 (13:42 +0100)]
Add T3 skeleton
Jiri Vlasak [Fri, 7 Dec 2018 12:39:30 +0000 (13:39 +0100)]
Plot samples only if there are some samples
Jiri Vlasak [Mon, 3 Dec 2018 09:44:09 +0000 (10:44 +0100)]
Add init, goal setters to RRTBase
Jiri Vlasak [Mon, 3 Dec 2018 09:20:43 +0000 (10:20 +0100)]
Fix nn, nv
- Use Euclidean distance for cost.
- Do not use same heading.
Jiri Vlasak [Mon, 3 Dec 2018 08:16:59 +0000 (09:16 +0100)]
Merge branch 'release/0.3.0'
Jiri Vlasak [Mon, 3 Dec 2018 08:15:12 +0000 (09:15 +0100)]
Release version 0.3.0
### 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 `.
Jiri Hubacek [Tue, 9 Oct 2018 08:00:10 +0000 (10:00 +0200)]
Add load trajectory from file functionality
This is for debug purposes. Scenario must include one trajectory in the
JSON format that is used in output.
Jiri Hubacek [Fri, 9 Nov 2018 13:43:34 +0000 (14:43 +0100)]
Fix plot labels and poses markers
Jiri Hubacek [Fri, 9 Nov 2018 13:39:25 +0000 (14:39 +0100)]
Fix frame plot
Jiri Hubacek [Fri, 9 Nov 2018 13:38:54 +0000 (14:38 +0100)]
Update car dimensions in plot
Jiri Hubacek [Fri, 9 Nov 2018 13:37:06 +0000 (14:37 +0100)]
Add percentiles and colors to gplot
Jiri Hubacek [Fri, 9 Nov 2018 13:36:13 +0000 (14:36 +0100)]
Fix Python 2 compatibility
Jiri Hubacek [Fri, 9 Nov 2018 13:35:32 +0000 (14:35 +0100)]
Update labels in gplot
Jiri Hubacek [Fri, 9 Nov 2018 13:32:01 +0000 (14:32 +0100)]
Enable edges log when MAX_TIME
Jiri Hubacek [Fri, 9 Nov 2018 13:31:05 +0000 (14:31 +0100)]
Include heading to JSON edges log
Jiri Hubacek [Fri, 9 Nov 2018 13:29:36 +0000 (14:29 +0100)]
Add collide with car frame procedure
Jiri Hubacek [Fri, 9 Nov 2018 13:29:13 +0000 (14:29 +0100)]
Change goal found to include IS_NEAR macro
Jiri Hubacek [Mon, 22 Oct 2018 13:22:56 +0000 (15:22 +0200)]
Merge branch 'feature/move-opt-path-to-base'
Jiri Hubacek [Mon, 22 Oct 2018 13:21:29 +0000 (15:21 +0200)]
Remove optimize part procedure
Jiri Hubacek [Mon, 22 Oct 2018 13:20:36 +0000 (15:20 +0200)]
Move path optimization procedure to RRT base
Jiri Hubacek [Mon, 22 Oct 2018 12:57:43 +0000 (14:57 +0200)]
Move EDIST macro definition to header file
Jiri Hubacek [Fri, 19 Oct 2018 19:24:55 +0000 (21:24 +0200)]
Update changelog
Jiri Hubacek [Fri, 19 Oct 2018 19:18:53 +0000 (21:18 +0200)]
Update gplot script
- Change headings, legends.
- Change folders.
Jiri Hubacek [Fri, 19 Oct 2018 19:16:58 +0000 (21:16 +0200)]
Add print #nodes, success rate functions to gplot
Jiri Hubacek [Fri, 19 Oct 2018 19:15:19 +0000 (21:15 +0200)]
Plot 2 subplots
- First subplot contains final path.
- Second subplot contains all the RRT* edges.
Jiri Hubacek [Fri, 19 Oct 2018 19:14:26 +0000 (21:14 +0200)]
Remove cusps points from plot
Jiri Hubacek [Fri, 19 Oct 2018 19:11:19 +0000 (21:11 +0200)]
Use Euclidean distance in `nn4`
Jiri Hubacek [Fri, 19 Oct 2018 05:35:49 +0000 (07:35 +0200)]
Change to `hist`, make yscale in gplot
Jiri Hubacek [Sun, 14 Oct 2018 20:41:11 +0000 (22:41 +0200)]
Fix Last trajectory time plot in gplot
Jiri Hubacek [Sun, 14 Oct 2018 20:40:35 +0000 (22:40 +0200)]
Update successrate, maxtime gplot
Jiri Hubacek [Sun, 14 Oct 2018 17:20:03 +0000 (19:20 +0200)]
Add directories as variables to test script
Jiri Hubacek [Thu, 11 Oct 2018 11:54:39 +0000 (13:54 +0200)]
Add plot max time function
Jiri Hubacek [Thu, 11 Oct 2018 11:19:02 +0000 (13:19 +0200)]
Skip non-existent values in gplot
Jiri Hubacek [Thu, 11 Oct 2018 07:38:14 +0000 (09:38 +0200)]
Update plot cost dist with legend
Jiri Hubacek [Thu, 11 Oct 2018 07:34:29 +0000 (09:34 +0200)]
Change USE_TMAX behaviour
- Exit planer also when goal found.
- Remove nearest neighbour search when goal not found.
Jiri Hubacek [Tue, 9 Oct 2018 16:55:32 +0000 (18:55 +0200)]
Merge branch 'feature/optimize-path-part'
Jiri Hubacek [Tue, 9 Oct 2018 16:02:52 +0000 (18:02 +0200)]
WORKAROUND optimize path, not just find
There is already path found in `tlog`. The last path should be just
optimized. It's assumed that path from `i` to `i + 1` is free in the
last path from `tlog`.
There is BUG in the application (maybe in `tmp_cusps` to `cusps`
translation?) that introduce inconsistency in this problem, so path from
`i` to `i + 1` is colliding.
This patch is workaround for such a behaviour.
Jiri Hubacek [Tue, 9 Oct 2018 16:01:52 +0000 (18:01 +0200)]
Fix Dijkstra node parent init
Jiri Hubacek [Tue, 9 Oct 2018 16:30:47 +0000 (18:30 +0200)]
Merge branch 'feature/no-heading-near-vertices'
Jiri Hubacek [Tue, 9 Oct 2018 16:29:41 +0000 (18:29 +0200)]
Add heading independent near vertices procedure
Jiri Hubacek [Tue, 9 Oct 2018 14:01:16 +0000 (16:01 +0200)]
Merge branch 'fix/optimize-path'
Jiri Hubacek [Tue, 9 Oct 2018 11:15:48 +0000 (13:15 +0200)]
Fix missing parent, cost of Dijkstra node
Jiri Hubacek [Tue, 9 Oct 2018 11:14:35 +0000 (13:14 +0200)]
Fix missing root in cusps
Jiri Hubacek [Tue, 9 Oct 2018 13:48:52 +0000 (15:48 +0200)]
Merge branch 'feature/measurement'
Jiri Hubacek [Tue, 9 Oct 2018 13:48:45 +0000 (15:48 +0200)]
Update changelog
Jiri Hubacek [Sun, 7 Oct 2018 00:15:05 +0000 (02:15 +0200)]
Fix unfinished path in Dijkstra path optimization
Jiri Hubacek [Sat, 6 Oct 2018 21:16:41 +0000 (23:16 +0200)]
Add cost distribution plot function
Jiri Hubacek [Sat, 6 Oct 2018 21:16:11 +0000 (23:16 +0200)]
Modify test script for current measurements
Jiri Hubacek [Sat, 6 Oct 2018 20:32:33 +0000 (22:32 +0200)]
Plot success rate from folders
Specify folders such that are not dependent on planner name.
Jiri Hubacek [Sat, 6 Oct 2018 19:10:25 +0000 (21:10 +0200)]
Fix heading overwriting in `nn4`
Jiri Hubacek [Sat, 6 Oct 2018 18:07:18 +0000 (20:07 +0200)]
Fix cusps detection in T2 next()
Jiri Hubacek [Sat, 6 Oct 2018 12:35:55 +0000 (14:35 +0200)]
Merge branch 'hotfix/0.2.1'
Jiri Hubacek [Sat, 6 Oct 2018 12:35:11 +0000 (14:35 +0200)]
Release version 0.2.1
### Fixed
- Optimize path until optimal.
Jiri Hubacek [Sat, 6 Oct 2018 12:34:09 +0000 (14:34 +0200)]
Fix path optimization while not optimal
Jiri Hubacek [Sat, 6 Oct 2018 12:31:03 +0000 (14:31 +0200)]
Merge branch 'release/0.2.0'