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Jiri Hubacek [Thu, 5 Jul 2018 08:23:16 +0000 (10:23 +0200)]
Release version 0.1.0
### Added
- Changelog, license, readme.
- Class for RRT nodes.
- Base class for RRT planners.
- RRT primitive procedures:
- cost,
- nearest neigbour search,
- samling procedure,
- steering procedure.
- RRT planner based on [LaValle1998] paper.
- Main program (input/output) with cmake file.
- 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.
Jiri Hubacek [Thu, 5 Jul 2018 08:10:00 +0000 (10:10 +0200)]
Merge branch 'feature/cost-log'
Jiri Hubacek [Thu, 5 Jul 2018 08:09:41 +0000 (10:09 +0200)]
Update changelog
Jiri Hubacek [Thu, 5 Jul 2018 08:04:22 +0000 (10:04 +0200)]
Plot cost in legend
Jiri Hubacek [Thu, 5 Jul 2018 08:04:12 +0000 (10:04 +0200)]
Add cost to JSON output
Jiri Hubacek [Thu, 5 Jul 2018 08:03:30 +0000 (10:03 +0200)]
Change counting variables to unsigned
Jiri Hubacek [Thu, 5 Jul 2018 07:45:56 +0000 (09:45 +0200)]
Add cost log
Jiri Hubacek [Thu, 5 Jul 2018 07:45:14 +0000 (09:45 +0200)]
Fix find trajectory return if no path
Jiri Hubacek [Thu, 5 Jul 2018 07:35:55 +0000 (09:35 +0200)]
Fix near vertices constant based on steer step
Jiri Hubacek [Wed, 4 Jul 2018 16:04:12 +0000 (18:04 +0200)]
Add goal first option to RRT, RRT*
Jiri Hubacek [Wed, 4 Jul 2018 16:01:16 +0000 (18:01 +0200)]
Add no cusp scenario
Jiri Hubacek [Wed, 4 Jul 2018 13:56:10 +0000 (15:56 +0200)]
Fix const usage in `st4` steer procedure
Jiri Hubacek [Wed, 4 Jul 2018 13:56:28 +0000 (15:56 +0200)]
Merge branch 'feature/refactor-st2'
Jiri Hubacek [Wed, 4 Jul 2018 13:52:21 +0000 (15:52 +0200)]
Use bicycle car model in `st2` steer procedure
Jiri Hubacek [Wed, 4 Jul 2018 13:29:23 +0000 (15:29 +0200)]
Merge branch 'feature/t1'
Jiri Hubacek [Wed, 4 Jul 2018 13:28:59 +0000 (15:28 +0200)]
Add RRT testing planner `T1`
Jiri Hubacek [Wed, 4 Jul 2018 12:39:00 +0000 (14:39 +0200)]
Merge branch 'feature/refactor-steer'
Jiri Hubacek [Wed, 4 Jul 2018 12:16:45 +0000 (14:16 +0200)]
Add constants to `st3` steer procedure
Jiri Hubacek [Wed, 4 Jul 2018 11:56:43 +0000 (13:56 +0200)]
Add constants to `st2` steer procedure
Jiri Hubacek [Wed, 4 Jul 2018 11:34:29 +0000 (13:34 +0200)]
Add constants to `st1` steer procedure
Jiri Hubacek [Wed, 4 Jul 2018 11:28:26 +0000 (13:28 +0200)]
Fix steer constant naming
Jiri Hubacek [Wed, 4 Jul 2018 12:23:42 +0000 (14:23 +0200)]
Merge branch 'feature/kuwata2008'
Jiri Hubacek [Wed, 4 Jul 2018 11:27:41 +0000 (13:27 +0200)]
Add RRT planner based on [Kuwata2008] paper
Jiri Hubacek [Wed, 4 Jul 2018 10:50:13 +0000 (12:50 +0200)]
Add cumulative costs
- Add cumulative cost procedure with Euclidean metrics.
- Add cumulative cost procedure with Reeds and Shepp metrics.
Jiri Hubacek [Wed, 4 Jul 2018 10:45:22 +0000 (12:45 +0200)]
Fix separate goal node delete
Jiri Hubacek [Wed, 4 Jul 2018 09:52:08 +0000 (11:52 +0200)]
Update readme
Jiri Hubacek [Wed, 4 Jul 2018 09:46:40 +0000 (11:46 +0200)]
Add plot python script
Jiri Hubacek [Wed, 4 Jul 2018 09:45:01 +0000 (11:45 +0200)]
Add testing parking scenarios
Jiri Hubacek [Wed, 4 Jul 2018 08:45:41 +0000 (10:45 +0200)]
Fix enhance path when goal already found
Jiri Hubacek [Wed, 4 Jul 2018 01:18:39 +0000 (03:18 +0200)]
Add RRTNode remove child method
Jiri Hubacek [Wed, 4 Jul 2018 01:10:26 +0000 (03:10 +0200)]
Fix RRT* rewire procedure
- Use getter method for accessing children.
Jiri Hubacek [Wed, 4 Jul 2018 00:31:16 +0000 (02:31 +0200)]
Fix RRT* connect procedure
- Pop children only when already connected. If not yet connected the
child has been already popped, because it was nearest neighbour.
- Do not use parent `pn` here. It's enough to use old parent `op`.
- Do not break after first better found, because `nvs` not ordered.
Jiri Hubacek [Tue, 3 Jul 2018 23:11:57 +0000 (01:11 +0200)]
Fix cost code (not a header file)
Jiri Hubacek [Tue, 3 Jul 2018 11:08:32 +0000 (13:08 +0200)]
Merge branch 'feature/clsim'
Jiri Hubacek [Tue, 3 Jul 2018 11:07:30 +0000 (13:07 +0200)]
Add closed loop simulation steering procedure
Jiri Hubacek [Tue, 3 Jul 2018 10:59:21 +0000 (12:59 +0200)]
Add #nodes console output
Jiri Hubacek [Tue, 3 Jul 2018 10:59:02 +0000 (12:59 +0200)]
Fix TMAX constant usage
Jiri Hubacek [Tue, 3 Jul 2018 08:10:54 +0000 (10:10 +0200)]
Merge branch 'feature/bcar-sim'
Jiri Hubacek [Tue, 3 Jul 2018 08:10:26 +0000 (10:10 +0200)]
Add bicycle car simulation iteration
Jiri Hubacek [Tue, 3 Jul 2018 08:10:03 +0000 (10:10 +0200)]
Add speed, steer getter, setter
Jiri Hubacek [Tue, 3 Jul 2018 08:08:51 +0000 (10:08 +0200)]
Make x, y, h of RRTNode protected for bicycle car
Jiri Hubacek [Tue, 3 Jul 2018 08:07:28 +0000 (10:07 +0200)]
Update constants in bicycle car
- Add `const` to constants.
- Add turning radius.
- Add MAXSTEER macro.
Jiri Hubacek [Tue, 3 Jul 2018 06:00:23 +0000 (08:00 +0200)]
Merge branch 'feature/reeds-shepp'
Jiri Hubacek [Tue, 3 Jul 2018 05:41:21 +0000 (07:41 +0200)]
Add Reeds and Shepp steering procedure
Jiri Hubacek [Mon, 2 Jul 2018 13:15:35 +0000 (15:15 +0200)]
Refactor steer procedure declarations
Jiri Hubacek [Tue, 3 Jul 2018 05:56:36 +0000 (07:56 +0200)]
Fix sampling range in sa1 to match examples
Jiri Hubacek [Mon, 2 Jul 2018 13:11:11 +0000 (15:11 +0200)]
Merge branch 'feature/rrt-star'
Jiri Hubacek [Mon, 2 Jul 2018 13:10:59 +0000 (15:10 +0200)]
Update changelog
Jiri Hubacek [Mon, 2 Jul 2018 13:07:41 +0000 (15:07 +0200)]
Add upper time bound for planner computation
Jiri Hubacek [Mon, 2 Jul 2018 13:01:21 +0000 (15:01 +0200)]
Add alternative steering procedure
Jiri Hubacek [Mon, 2 Jul 2018 12:51:27 +0000 (14:51 +0200)]
Resize sampling range in sa1 algorithm
Jiri Hubacek [Mon, 2 Jul 2018 12:51:01 +0000 (14:51 +0200)]
Fix heading overflow in RRTNode constructor
Jiri Hubacek [Mon, 2 Jul 2018 12:48:37 +0000 (14:48 +0200)]
Add samples to JSON output
Jiri Hubacek [Sun, 1 Jul 2018 22:25:11 +0000 (00:25 +0200)]
Add edges to JSON output
Jiri Hubacek [Sun, 1 Jul 2018 20:26:09 +0000 (22:26 +0200)]
Add RRT* planner based or [Karaman2011] paper
Jiri Hubacek [Sun, 1 Jul 2018 01:24:53 +0000 (03:24 +0200)]
Add obstacle getter
Jiri Hubacek [Fri, 29 Jun 2018 21:34:45 +0000 (23:34 +0200)]
Add near vertices procedure
Jiri Hubacek [Fri, 29 Jun 2018 21:18:10 +0000 (23:18 +0200)]
Fix memory leaks
Jiri Hubacek [Fri, 29 Jun 2018 20:43:46 +0000 (22:43 +0200)]
Merge branch 'feature/collisions'
Jiri Hubacek [Fri, 29 Jun 2018 20:42:12 +0000 (22:42 +0200)]
Add bicycle car model, fix collision check
Jiri Hubacek [Fri, 29 Jun 2018 20:24:27 +0000 (22:24 +0200)]
Add find trajectory method
Jiri Hubacek [Fri, 29 Jun 2018 20:24:01 +0000 (22:24 +0200)]
Add JSON input to main program
Jiri Hubacek [Fri, 29 Jun 2018 20:07:55 +0000 (22:07 +0200)]
Add obstacles, collision check
Jiri Hubacek [Fri, 29 Jun 2018 18:51:15 +0000 (20:51 +0200)]
Add gitignore
Jiri Hubacek [Fri, 29 Jun 2018 18:48:25 +0000 (20:48 +0200)]
Merge branch 'feature/rrt'
Jiri Hubacek [Fri, 29 Jun 2018 18:43:39 +0000 (20:43 +0200)]
Add main program, cmake file
Jiri Hubacek [Fri, 29 Jun 2018 18:42:21 +0000 (20:42 +0200)]
Add RRT planner based on [LaValle1998] paper
Jiri Hubacek [Fri, 29 Jun 2018 18:38:38 +0000 (20:38 +0200)]
Add RRT primitive procedures
- Add cost.
- Add nearest neighbour search.
- Add sampling.
- Add steering.
Jiri Hubacek [Fri, 29 Jun 2018 18:33:45 +0000 (20:33 +0200)]
Add RRTNode, RRTBase class
Jiri Hubacek [Fri, 29 Jun 2018 15:41:20 +0000 (17:41 +0200)]
Add template
Jiri Hubacek [Fri, 29 Jun 2018 15:40:57 +0000 (17:40 +0200)]
Add changelog, license, readme