The algorithm is improved by using approach of Anytime RRT. There are
few fixes to optimiazation procedure. Search cost is improved by
considering number of backward-forward direction changes. The algorithm
switched to RRT instead of RRT*.
Use reuse.software for keeping the license.
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Jiri Vlasak (33):
Merge branch 'release/0.8.0'
Use macros to comment out the code
When path not found, do not optimize it
Implement anytime rrt
Try steering from root to just added node
Compute path only at the end of each iteration
Remove commented code
Add planner 39
Merge branch 'refactor-and-tuning'
Revert 100e888
Add recompute path cc method
Update anytime improvement with last path
Improve pick interesting method
Use interesting forward/backward methods
Repeat optimization while improving
Fix forward dijkstra algorithm
Add drivable to forward dijkstra algorithm
Fix backward dijkstra optimization
Merge branch 'fix/dijkstra-backward-opt'
Add recompute cc method
Init reuse.software
Update self source file with license
Update license info in cute header file
Update license info in reeds_shepp files
Merge branch 'change/to-reuse.software'
Add and use #cusp
Increase max polygon verts to 12
Estimate if should run path optimization
Improve search cost
Move obstacle assert to ext2
Merge branch 'use-cusp'
Update bcar submodule
Switch to RRT algorithm