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rtime.felk.cvut.cz Git - hubacji1/iamcar.git/log
Jiri Vlasak [Mon, 24 Jun 2019 12:25:16 +0000 (14:25 +0200)]
Merge branch 'feature/slotplanner-sampling-info'
Jiri Vlasak [Mon, 24 Jun 2019 12:25:02 +0000 (14:25 +0200)]
Update changelog
Jiri Vlasak [Mon, 24 Jun 2019 12:20:26 +0000 (14:20 +0200)]
Use sampling info only when fip found
Jiri Vlasak [Mon, 24 Jun 2019 11:56:41 +0000 (13:56 +0200)]
Move screen size
Jiri Vlasak [Mon, 24 Jun 2019 10:01:19 +0000 (12:01 +0200)]
Refactor
Jiri Vlasak [Fri, 21 Jun 2019 13:31:43 +0000 (15:31 +0200)]
Fix IYI computation
Jiri Vlasak [Fri, 21 Jun 2019 12:58:38 +0000 (14:58 +0200)]
Fix horizontal/vertical constants
Jiri Vlasak [Fri, 21 Jun 2019 12:27:28 +0000 (14:27 +0200)]
Use std::array for indexing structure
Jiri Vlasak [Thu, 20 Jun 2019 13:06:09 +0000 (15:06 +0200)]
Fix condition in `fip()`
Jiri Vlasak [Thu, 20 Jun 2019 11:30:28 +0000 (13:30 +0200)]
Set SamplingInfo defaults
Jiri Vlasak [Thu, 20 Jun 2019 11:29:33 +0000 (13:29 +0200)]
Protect usage of `n` when it is `nullptr`
Jiri Vlasak [Thu, 20 Jun 2019 07:52:54 +0000 (09:52 +0200)]
Update changelog
Jiri Vlasak [Thu, 20 Jun 2019 07:13:17 +0000 (09:13 +0200)]
Change sampling info
Sampling info based on init pose found by `fip()`.
Jiri Vlasak [Wed, 19 Jun 2019 11:56:00 +0000 (13:56 +0200)]
Merge branch 'feature/dubins-path'
Jiri Vlasak [Wed, 19 Jun 2019 11:55:51 +0000 (13:55 +0200)]
Update changelog
Jiri Vlasak [Wed, 19 Jun 2019 11:54:15 +0000 (13:54 +0200)]
Remove tmp graph plot for slot planner
Jiri Vlasak [Wed, 19 Jun 2019 09:20:21 +0000 (11:20 +0200)]
Add drivable node guess, use in st5
Jiri Vlasak [Wed, 19 Jun 2019 07:02:02 +0000 (09:02 +0200)]
Rewrite circle with line segments collide method
Jiri Vlasak [Tue, 18 Jun 2019 14:32:09 +0000 (16:32 +0200)]
Rewrite circle with line segment collide method
Jiri Vlasak [Tue, 18 Jun 2019 07:53:12 +0000 (09:53 +0200)]
Return immediately when not drivable
Jiri Vlasak [Mon, 17 Jun 2019 14:30:49 +0000 (16:30 +0200)]
Finish when nothing to steer in opt
Jiri Vlasak [Mon, 17 Jun 2019 08:45:51 +0000 (10:45 +0200)]
Decide to steer forward/backward in st5
Jiri Vlasak [Mon, 17 Jun 2019 08:39:06 +0000 (10:39 +0200)]
Fix repeating cusp in opt
When two nodes are near themselves, do not use both.
Jiri Vlasak [Mon, 17 Jun 2019 08:33:29 +0000 (10:33 +0200)]
Find final path only when goal found
Jiri Vlasak [Fri, 14 Jun 2019 12:47:35 +0000 (14:47 +0200)]
Add detection of node in front of node
Jiri Vlasak [Thu, 13 Jun 2019 15:08:21 +0000 (17:08 +0200)]
Remove high resolution steering
Because 0.01 is too fine for IS_NEAR macro and it caused backward move
for Dubins paths.
Jiri Vlasak [Thu, 13 Jun 2019 13:47:22 +0000 (15:47 +0200)]
Plot car frame with GL
Jiri Vlasak [Wed, 12 Jun 2019 14:16:46 +0000 (16:16 +0200)]
Add 5th steering procedure to RRTBase
`st5` uses Dubin's paths.
Jiri Vlasak [Wed, 12 Jun 2019 11:55:37 +0000 (13:55 +0200)]
Add `dubins` files
Downloaded from https://github.com/AndrewWalker/Dubins-Curves, the
project is under MIT license.
Jiri Vlasak [Wed, 12 Jun 2019 11:31:40 +0000 (13:31 +0200)]
Widen parallel parking scenarios
Jiri Vlasak [Wed, 12 Jun 2019 08:32:43 +0000 (10:32 +0200)]
Start from original goal
The problem is with parallel parking.
Jiri Vlasak [Wed, 12 Jun 2019 08:30:41 +0000 (10:30 +0200)]
Reformat IS_NEAR, add IS_NEAR for goal
Jiri Vlasak [Tue, 11 Jun 2019 15:46:48 +0000 (17:46 +0200)]
Add FP as first node in slot cusps
Jiri Vlasak [Tue, 11 Jun 2019 14:30:54 +0000 (16:30 +0200)]
Use sampling info for setting up the sampling
But comment it for now as the values used in sampling info don't
correspond to needed values.
Jiri Vlasak [Tue, 11 Jun 2019 14:06:01 +0000 (16:06 +0200)]
Update changelog
Jiri Vlasak [Tue, 11 Jun 2019 13:56:32 +0000 (15:56 +0200)]
Use normal distribution in sampling
Jiri Vlasak [Tue, 11 Jun 2019 13:46:21 +0000 (15:46 +0200)]
Reformat
Jiri Vlasak [Tue, 11 Jun 2019 13:24:00 +0000 (15:24 +0200)]
Merge branch 'feature/multiple-interesting'
Jiri Vlasak [Tue, 11 Jun 2019 13:23:53 +0000 (15:23 +0200)]
Update changelog
Jiri Vlasak [Tue, 11 Jun 2019 13:15:59 +0000 (15:15 +0200)]
Add slot edges as segment obstacles
Jiri Vlasak [Tue, 11 Jun 2019 08:24:07 +0000 (10:24 +0200)]
Use firsts FIFO queue in T2 planner
Jiri Vlasak [Tue, 11 Jun 2019 08:12:28 +0000 (10:12 +0200)]
Add firsts, firsts getter
Jiri Vlasak [Mon, 10 Jun 2019 14:31:00 +0000 (16:31 +0200)]
Merge branch 'feature/multiple-goals'
Jiri Vlasak [Mon, 10 Jun 2019 14:30:25 +0000 (16:30 +0200)]
Update changelog
Jiri Vlasak [Mon, 10 Jun 2019 14:17:58 +0000 (16:17 +0200)]
Add goal_found method for two RRTNodes
Jiri Vlasak [Mon, 10 Jun 2019 12:51:34 +0000 (14:51 +0200)]
Update ccost of goal's parents
Jiri Vlasak [Mon, 10 Jun 2019 12:34:08 +0000 (14:34 +0200)]
Goal is last of goals
Jiri Vlasak [Mon, 10 Jun 2019 11:09:49 +0000 (13:09 +0200)]
Connect goals to goal
Jiri Vlasak [Fri, 7 Jun 2019 13:00:46 +0000 (15:00 +0200)]
Merge branch 'feature/angle-parking'
Jiri Vlasak [Fri, 7 Jun 2019 13:00:33 +0000 (15:00 +0200)]
Update changelog
Jiri Vlasak [Fri, 7 Jun 2019 12:35:42 +0000 (14:35 +0200)]
Remove parking slot segment obstacles
Use slot polygon instead.
Jiri Vlasak [Fri, 7 Jun 2019 12:22:48 +0000 (14:22 +0200)]
Fix find init pose for right perp. parking
Jiri Vlasak [Fri, 7 Jun 2019 08:46:55 +0000 (10:46 +0200)]
Update in slot pose for angle backward parking
Jiri Vlasak [Fri, 7 Jun 2019 07:53:17 +0000 (09:53 +0200)]
Add TODO, fix comment
Jiri Vlasak [Fri, 7 Jun 2019 07:38:52 +0000 (09:38 +0200)]
Fix final pose for backward angular parking
Jiri Vlasak [Mon, 27 May 2019 16:54:24 +0000 (18:54 +0200)]
Update in slot pose for angle forward parking
Jiri Vlasak [Mon, 27 May 2019 15:24:48 +0000 (17:24 +0200)]
Simplify final pose getter for forward parking
Jiri Vlasak [Mon, 27 May 2019 14:42:30 +0000 (16:42 +0200)]
Use `poseHeading()` in `getFP()` in `SlotPlanner`
Jiri Vlasak [Mon, 27 May 2019 14:27:03 +0000 (16:27 +0200)]
Add pose heading method to SlotPlanner
Jiri Vlasak [Mon, 27 May 2019 14:15:23 +0000 (16:15 +0200)]
Merge branch 'feature/forward-perpendicular-parking'
Jiri Vlasak [Mon, 27 May 2019 14:15:08 +0000 (16:15 +0200)]
Update changelog
Jiri Vlasak [Mon, 27 May 2019 14:13:15 +0000 (16:13 +0200)]
Add find init pose in forward direction method
Jiri Vlasak [Mon, 27 May 2019 14:12:15 +0000 (16:12 +0200)]
Add inside slot position for perp. forward parking
Jiri Vlasak [Mon, 27 May 2019 12:37:59 +0000 (14:37 +0200)]
Add init pose for forward perpendicular parking
Jiri Vlasak [Mon, 27 May 2019 07:01:04 +0000 (09:01 +0200)]
Merge branch 'feature/perpendicular-slotplanner'
Jiri Vlasak [Mon, 27 May 2019 07:00:55 +0000 (09:00 +0200)]
Update changelog
Jiri Vlasak [Sat, 25 May 2019 17:22:46 +0000 (19:22 +0200)]
Log path when optimized
Jiri Vlasak [Sat, 25 May 2019 16:18:07 +0000 (18:18 +0200)]
Add steer to goals section in T2
Jiri Vlasak [Fri, 24 May 2019 11:36:08 +0000 (13:36 +0200)]
Fix get position in slot for LEFT parking slot
Jiri Vlasak [Fri, 24 May 2019 05:33:28 +0000 (07:33 +0200)]
Add goals to RRTBase
Jiri Vlasak [Fri, 24 May 2019 04:35:08 +0000 (06:35 +0200)]
Rewrite perpendicular slot planner
Jiri Vlasak [Fri, 24 May 2019 04:08:47 +0000 (06:08 +0200)]
Add list of goals
This list contains all the poses from slot entry point backwards to
first cusp point (of parking slot).
Jiri Vlasak [Fri, 24 May 2019 03:59:53 +0000 (05:59 +0200)]
Add pose in perpendicular slot getter
This method returns a pose of perpendicular parking slot from where it
is possible to get out of the slot with full steer to farther corner
side (i.e. right corner for the RIGHT side).
Jiri Vlasak [Thu, 23 May 2019 12:59:57 +0000 (14:59 +0200)]
Fix best final pose (FP) getter, add lper slot
Jiri Vlasak [Thu, 23 May 2019 06:34:47 +0000 (08:34 +0200)]
Redefine order of slot border nodes
The node closest to init pose is the first.
Jiri Vlasak [Wed, 22 May 2019 15:48:57 +0000 (17:48 +0200)]
Add slot debug output
Jiri Vlasak [Wed, 22 May 2019 15:35:02 +0000 (17:35 +0200)]
Change guided sampling
Sampling info contains information of bounding box where to sample:
- `x0 - x/2 ... x0 + x/2`
- `y0 - y/2 ... y0 + y/2`
- `h0 - h/2 ... h0 + h/2`
Jiri Vlasak [Wed, 22 May 2019 07:08:35 +0000 (09:08 +0200)]
Add middle node getter
Jiri Vlasak [Tue, 21 May 2019 16:29:09 +0000 (18:29 +0200)]
First `fip()` then `getSamplingInfo()`
Jiri Vlasak [Tue, 21 May 2019 16:11:23 +0000 (18:11 +0200)]
Just reorder methods
Jiri Vlasak [Tue, 21 May 2019 16:01:35 +0000 (18:01 +0200)]
Enable plot just scenario
Jiri Vlasak [Tue, 21 May 2019 15:59:34 +0000 (17:59 +0200)]
Fallback to scenario when info in traj missing
Jiri Vlasak [Tue, 21 May 2019 15:50:36 +0000 (17:50 +0200)]
Comment out fill between
As multiple scenarios are currently considered.
Jiri Vlasak [Tue, 21 May 2019 15:49:44 +0000 (17:49 +0200)]
Set slot heading with `satAll()`
Jiri Vlasak [Tue, 21 May 2019 15:38:43 +0000 (17:38 +0200)]
Use find init pose with obstacles
Jiri Vlasak [Tue, 21 May 2019 13:11:37 +0000 (15:11 +0200)]
Merge branch 'hotfix/0.6.1'
Jiri Vlasak [Tue, 21 May 2019 13:11:05 +0000 (15:11 +0200)]
Update changelog (hotfix)
Jiri Vlasak [Tue, 21 May 2019 13:09:55 +0000 (15:09 +0200)]
Switch between guided and random sampling
Jiri Vlasak [Tue, 21 May 2019 12:48:52 +0000 (14:48 +0200)]
Fix missing declaration
Jiri Vlasak [Mon, 20 May 2019 12:16:28 +0000 (14:16 +0200)]
Merge branch 'release/0.6.0'
Jiri Vlasak [Mon, 20 May 2019 12:15:28 +0000 (14:15 +0200)]
Update changelog (release)
Jiri Vlasak [Mon, 20 May 2019 12:11:19 +0000 (14:11 +0200)]
Update changelog
Jiri Vlasak [Mon, 20 May 2019 12:09:35 +0000 (14:09 +0200)]
Merge branch 'feature/refactor'
Jiri Vlasak [Mon, 20 May 2019 12:09:26 +0000 (14:09 +0200)]
Merge branch 'feature/trace-random-samples'
Jiri Vlasak [Mon, 20 May 2019 12:09:17 +0000 (14:09 +0200)]
Merge branch 'feature/tune-sampling'
Jiri Vlasak [Mon, 20 May 2019 12:09:08 +0000 (14:09 +0200)]
Merge branch 'feature/perpendicular-slotplanner'
Jiri Vlasak [Mon, 20 May 2019 11:51:06 +0000 (13:51 +0200)]
Add plot trajectory script
Jiri Vlasak [Mon, 20 May 2019 11:49:38 +0000 (13:49 +0200)]
Add rotate scenario script
Jiri Vlasak [Mon, 20 May 2019 11:36:26 +0000 (13:36 +0200)]
Add perpendicular slot planner proposal
Jiri Vlasak [Mon, 20 May 2019 11:35:02 +0000 (13:35 +0200)]
Add trajectory cusp private getter