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Jiri Vlasak [Wed, 18 Sep 2019 11:33:46 +0000 (13:33 +0200)]
Connect returns true
Procedure `connect` is called form the `next` procedure only. Also, just
before `connect`, the collision is checked for the all of the `steered`
nodes. Therefore, there is no collision when `connect` is called.
Jiri Vlasak [Tue, 17 Sep 2019 12:51:58 +0000 (14:51 +0200)]
Merge branch 'feature/libsolid'
Jiri Vlasak [Tue, 17 Sep 2019 12:51:52 +0000 (14:51 +0200)]
Update changelog, readme
Jiri Vlasak [Tue, 17 Sep 2019 12:48:12 +0000 (14:48 +0200)]
Implement ext2 collide methods
Jiri Vlasak [Tue, 17 Sep 2019 12:47:42 +0000 (14:47 +0200)]
Add workaround for solid shape delete
Jiri Vlasak [Mon, 16 Sep 2019 07:03:39 +0000 (09:03 +0200)]
Add collide test for ext2
Jiri Vlasak [Fri, 13 Sep 2019 11:54:14 +0000 (13:54 +0200)]
Add RRT iteration counter getter
Jiri Vlasak [Fri, 13 Sep 2019 11:25:32 +0000 (13:25 +0200)]
Fix counter overflow
Jiri Vlasak [Fri, 13 Sep 2019 08:22:28 +0000 (10:22 +0200)]
Add ext2 collide method skeletons
Jiri Vlasak [Fri, 13 Sep 2019 08:21:04 +0000 (10:21 +0200)]
Fix virtual methods for ext1
Jiri Vlasak [Fri, 13 Sep 2019 07:41:29 +0000 (09:41 +0200)]
Implement ext2 init/deinit
Jiri Vlasak [Fri, 13 Sep 2019 07:41:15 +0000 (09:41 +0200)]
Add ext2 init/deinit skeleton
Jiri Vlasak [Thu, 12 Sep 2019 14:32:26 +0000 (16:32 +0200)]
Add ext2 skeleton
SOLID library has to be in the same directory structure level as other
libraries (ie. `libbcar`).
Jiri Vlasak [Thu, 12 Sep 2019 14:24:39 +0000 (16:24 +0200)]
Add ext SOLID ut
Jiri Vlasak [Thu, 12 Sep 2019 13:43:00 +0000 (15:43 +0200)]
Merge branch 'feature/rrt-extension'
Jiri Vlasak [Thu, 12 Sep 2019 13:38:46 +0000 (15:38 +0200)]
Update changelog, readme
Jiri Vlasak [Thu, 12 Sep 2019 13:31:26 +0000 (15:31 +0200)]
Implement ext1
Jiri Vlasak [Thu, 12 Sep 2019 13:28:05 +0000 (15:28 +0200)]
Add ext1 skeleton
Jiri Vlasak [Thu, 12 Sep 2019 13:21:54 +0000 (15:21 +0200)]
Add ext cost ut
Jiri Vlasak [Thu, 12 Sep 2019 12:56:04 +0000 (14:56 +0200)]
Generate documentation from `incl` too
Jiri Vlasak [Wed, 11 Sep 2019 05:58:03 +0000 (07:58 +0200)]
Use splitted costs
Jiri Vlasak [Wed, 11 Sep 2019 05:44:25 +0000 (07:44 +0200)]
Split cost to build and search
Jiri Vlasak [Wed, 11 Sep 2019 05:42:41 +0000 (07:42 +0200)]
Remove costs heuristics
Jiri Vlasak [Tue, 10 Sep 2019 16:35:23 +0000 (18:35 +0200)]
Increase vector sizes
Jiri Vlasak [Tue, 10 Sep 2019 09:32:16 +0000 (11:32 +0200)]
Merge branch 'feature/extend-next'
Jiri Vlasak [Tue, 10 Sep 2019 09:32:03 +0000 (11:32 +0200)]
Update changelog
Jiri Vlasak [Mon, 19 Aug 2019 10:05:20 +0000 (12:05 +0200)]
Add goal found method
- Check each goal if the latest RRT node is near to it.
- Run goal found method after each steer to goal.
Jiri Vlasak [Mon, 19 Aug 2019 09:13:19 +0000 (11:13 +0200)]
Add join steered nodes method
Jiri Vlasak [Sun, 18 Aug 2019 18:41:38 +0000 (20:41 +0200)]
Strip down steered if possible when collide
When collide, some nodes from steered still may be used. Therefore,
strip colliding nodes from the back of `steered()` of `rrts`.
Jiri Vlasak [Thu, 15 Aug 2019 13:36:32 +0000 (15:36 +0200)]
Update collide method to return more information
Jiri Vlasak [Thu, 15 Aug 2019 13:07:49 +0000 (15:07 +0200)]
Steer to goals from just added nodes, too
Jiri Vlasak [Wed, 14 Aug 2019 14:35:59 +0000 (16:35 +0200)]
Refactor next: rename goal node to `g`
Jiri Vlasak [Wed, 14 Aug 2019 13:55:04 +0000 (15:55 +0200)]
Goal found only when near to some goal
Jiri Vlasak [Tue, 10 Sep 2019 06:59:24 +0000 (08:59 +0200)]
Merge branch 'feature/cost-heur'
Jiri Vlasak [Tue, 10 Sep 2019 06:59:17 +0000 (08:59 +0200)]
Update changelog
Jiri Vlasak [Wed, 14 Aug 2019 13:37:34 +0000 (15:37 +0200)]
Fix collision detection
Jiri Vlasak [Wed, 14 Aug 2019 10:45:55 +0000 (12:45 +0200)]
Add Matej's heuristics cost
Jiri Vlasak [Wed, 14 Aug 2019 10:25:13 +0000 (12:25 +0200)]
Add RS cost
Reeds and Shepp path length is used as the cost for building the RRT*
tree data structure.
Jiri Vlasak [Tue, 13 Aug 2019 14:58:34 +0000 (16:58 +0200)]
Merge branch 'feature/bc-constructor'
Jiri Vlasak [Tue, 13 Aug 2019 14:58:26 +0000 (16:58 +0200)]
Update changelog
Jiri Vlasak [Tue, 13 Aug 2019 14:57:52 +0000 (16:57 +0200)]
Implement bicycle car constructor
Jiri Vlasak [Tue, 13 Aug 2019 14:57:37 +0000 (16:57 +0200)]
Add bicycle car constructor ut
Jiri Vlasak [Mon, 5 Aug 2019 09:08:14 +0000 (11:08 +0200)]
Merge branch 'release/0.1.0'
Jiri Vlasak [Mon, 5 Aug 2019 09:07:40 +0000 (11:07 +0200)]
Update changelog
Jiri Vlasak [Fri, 2 Aug 2019 08:55:27 +0000 (10:55 +0200)]
Merge branch 'feature/reeds-and-shepp-steer'
Jiri Vlasak [Fri, 2 Aug 2019 08:55:19 +0000 (10:55 +0200)]
Update changelog
Jiri Vlasak [Fri, 2 Aug 2019 08:39:58 +0000 (10:39 +0200)]
Update ut
There can be more than one node added in each iteration.
Jiri Vlasak [Fri, 2 Aug 2019 08:36:33 +0000 (10:36 +0200)]
Tune allocated size
Jiri Vlasak [Fri, 2 Aug 2019 08:36:16 +0000 (10:36 +0200)]
Use multiple steered nodes
Jiri Vlasak [Fri, 2 Aug 2019 08:16:34 +0000 (10:16 +0200)]
Return if connect fails
Jiri Vlasak [Fri, 2 Aug 2019 07:51:36 +0000 (09:51 +0200)]
Use Reeds and Shepp curves in steer method
Jiri Vlasak [Fri, 2 Aug 2019 07:31:01 +0000 (09:31 +0200)]
Add Reeds and Shepp source files
Jiri Vlasak [Thu, 1 Aug 2019 17:13:31 +0000 (19:13 +0200)]
Merge branch 'feature/obstacles'
Jiri Vlasak [Thu, 1 Aug 2019 17:13:22 +0000 (19:13 +0200)]
Update changelog
Jiri Vlasak [Thu, 1 Aug 2019 17:10:13 +0000 (19:10 +0200)]
Connect and rewire only if no collision
Jiri Vlasak [Thu, 1 Aug 2019 16:44:26 +0000 (18:44 +0200)]
Do not delete steered node in connect
All the steered nodes are deleted before next steer.
Jiri Vlasak [Thu, 1 Aug 2019 16:25:39 +0000 (18:25 +0200)]
Return if obstacles collide with steered nodes
Jiri Vlasak [Thu, 1 Aug 2019 15:50:57 +0000 (17:50 +0200)]
Implement naive collide
Jiri Vlasak [Thu, 1 Aug 2019 15:36:50 +0000 (17:36 +0200)]
Use polygon argument for RRT* collide method
The collide method of RRT* returns `true` if there is a collision
between `poly` argument of collide method and any obstacle of RRT*.
Jiri Vlasak [Thu, 1 Aug 2019 15:28:08 +0000 (17:28 +0200)]
Add obstacle class, pseudo ut
Jiri Vlasak [Thu, 1 Aug 2019 15:04:23 +0000 (17:04 +0200)]
Merge branch 'feature/rrt-star'
Jiri Vlasak [Thu, 1 Aug 2019 12:55:39 +0000 (14:55 +0200)]
Update changelog
Jiri Vlasak [Fri, 26 Jul 2019 20:10:27 +0000 (22:10 +0200)]
Implement naive path
Jiri Vlasak [Sun, 28 Jul 2019 19:52:51 +0000 (21:52 +0200)]
Add vectors static allocation
Jiri Vlasak [Fri, 26 Jul 2019 20:26:44 +0000 (22:26 +0200)]
Use cumulative cost function
The cumulative cost does not work when there is no method for updating
the children of RRT node. Before storing cumulative cost in RRT node
class, the method for updating cumulative cost of the children
recursively is needed.
Jiri Vlasak [Fri, 26 Jul 2019 20:21:25 +0000 (22:21 +0200)]
Add cumulative cost function
Jiri Vlasak [Fri, 26 Jul 2019 20:11:00 +0000 (22:11 +0200)]
Add commented address sanitizer
Jiri Vlasak [Fri, 26 Jul 2019 14:13:41 +0000 (16:13 +0200)]
Add method for setting sampling info
Jiri Vlasak [Fri, 26 Jul 2019 10:51:18 +0000 (12:51 +0200)]
Extend naive rrts ut
Jiri Vlasak [Fri, 26 Jul 2019 09:31:47 +0000 (11:31 +0200)]
Implement naive next
Jiri Vlasak [Fri, 26 Jul 2019 09:31:12 +0000 (11:31 +0200)]
Add simple next ut
Jiri Vlasak [Fri, 26 Jul 2019 09:13:02 +0000 (11:13 +0200)]
Implement naive rewire
Jiri Vlasak [Fri, 26 Jul 2019 08:50:03 +0000 (10:50 +0200)]
Implement naive connect
Jiri Vlasak [Fri, 26 Jul 2019 07:59:09 +0000 (09:59 +0200)]
Implement naive steer
Jiri Vlasak [Fri, 26 Jul 2019 07:56:20 +0000 (09:56 +0200)]
Implement naive nv
Jiri Vlasak [Fri, 26 Jul 2019 07:35:38 +0000 (09:35 +0200)]
Implement naive nn
Jiri Vlasak [Fri, 26 Jul 2019 07:25:03 +0000 (09:25 +0200)]
Implement euclidean cost
Jiri Vlasak [Fri, 26 Jul 2019 07:15:29 +0000 (09:15 +0200)]
Add sample method
Jiri Vlasak [Thu, 25 Jul 2019 16:09:42 +0000 (18:09 +0200)]
Add basic RRT* methods
Jiri Vlasak [Thu, 25 Jul 2019 15:45:53 +0000 (17:45 +0200)]
Extend RRT node class, add getters/setters
Jiri Vlasak [Thu, 25 Jul 2019 14:30:31 +0000 (16:30 +0200)]
Add RRTNode basic class, ut
Jiri Vlasak [Thu, 25 Jul 2019 14:30:07 +0000 (16:30 +0200)]
Link bcar library
Jiri Vlasak [Thu, 25 Jul 2019 14:09:59 +0000 (16:09 +0200)]
Add cmake config, RRT* basic class, ut
Jiri Vlasak [Thu, 25 Jul 2019 14:04:03 +0000 (16:04 +0200)]
Update changelog
Jiri Vlasak [Thu, 25 Jul 2019 14:03:39 +0000 (16:03 +0200)]
Add basic wvtest files
Jiri Vlasak [Thu, 25 Jul 2019 14:01:59 +0000 (16:01 +0200)]
Add gitignore
Jiri Vlasak [Thu, 25 Jul 2019 14:01:18 +0000 (16:01 +0200)]
Add changelog, doxygen config, license, readme