<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: Release Notes</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
var _gaq = _gaq || [];
_gaq.push(['_setAccount', 'UA-9156598-2']);
_gaq.push(['_trackPageview']);
(function() {
var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
})();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
<div class="tabs" id="ompltitle">
<ul class="tablist">
<li>The Open Motion Planning Library</li>
<li id="searchli">
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search API" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<ul id="nav" class="dropdown">
<li class="first"><a href="index.html">Home</a></li>
<li><a href="download.html">Download</a></li>
<li><a href="documentation.html">Documentation</a></li>
<li><span class="dir">Code API</span>
<ul>
<li><a href="api_overview.html">API Overview</a></li>
<li><a href="namespaces.html">Namespaces</a></li>
<li><a href="annotated.html">Classes</a></li>
<li><a href="files.html">Files</a></li>
<li><a href="dirs.html">Directories</a></li>
</ul>
</li>
<li><span class="dir">Community</span>
<ul>
<li><a href="developers.html">Developers</a></li>
<li><a href="thirdparty.html">Contributions</a></li>
<li><a href="education.html">Education</a></li>
<li><a href="gallery.html">Gallery</a></li>
</ul>
</li>
<li><span class="dir">About</span>
<ul>
<li><a href="license.html">License</a></li>
<li><a href="citations.html">Citations</a></li>
<li><a href="acknowledgements.html">Acknowledgments</a></li>
<li><a href="contact.html">Contact Us</a></li>
</ul>
</li>
</ul>
</div>
<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>
<div class="container">
<div class="span-22 push-2 first last">
<div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
</div>
<div class="header">
<div class="headertitle">
<div class="title">Release Notes </div> </div>
</div>
<div class="contents">
<div class="textblock"><h2><a class="anchor" id="release_0_9_5"></a>
OMPL.app 0.9.5 (October 4, 2011)</h2>
<ul>
<li>Added control sampler functions that allow specifying an intended direction of propagation</li>
<li>Removed pre-generated Python binding code. It turns out that they are dependent on the particular Boost version.</li>
<li>Bug fixes</li>
</ul>
<h2><a class="anchor" id="release_0_9_4"></a>
OMPL 0.9.4 (August 16, 2011)</h2>
<ul>
<li>Renamed StateManifold to StateSpace and ControlManifold to ControlSpace</li>
<li>Added RRTstar contribution</li>
<li>Added GNAT nearest neighbors datastructure</li>
<li>Added representation of a discrete state space (DiscreteStateSpace)</li>
<li>Added representation of probability density functions (PDF)</li>
<li>Replaced the implementation of BasicPRM with PRM. Thanks to James Marble, the new implementation uses BGL.</li>
<li>Moved state propagation functionality from ControlSpace to a separate StatePropagator class</li>
<li>Added isStraightLinePathValid() to PlannerDefinition</li>
<li>Using boost ublas for real vector projections</li>
<li>Add sanity checks for state spaces</li>
<li>Benchmarked planners are now run in a separate thread (and termination conditions are evaluated separately, to detect crashes)</li>
<li>Added getType() for Goal and replaced getType() for planners by getSpecs()</li>
<li>Generalized planner termination conditions. The user can now call terminate() at any time to signal a planner it should stop its computation</li>
<li>Improvements to control::KPIECE1, so that it considers goal biasing more appropriately</li>
<li>Move code for extracting machine properties from util/ to benchmark/</li>
<li>Documentation fixes</li>
</ul>
<h2><a class="anchor" id="release_0_9_3"></a>
OMPL 0.9.3 (May 2, 2011)</h2>
<ul>
<li>Added path smoothing with splines</li>
<li>Added a bi-directional implementation of KPIECE (BKPIECE)</li>
<li>Support for computation of clearance and gradients that move away from invalid regions</li>
<li>Separate "magic constants" to a separate, visible, location</li>
<li>A number of bug fixes</li>
</ul>
<h2><a class="anchor" id="release_0_9_2"></a>
OMPL 0.9.2 (February 21, 2011)</h2>
<ul>
<li>Updates to operations on states: indexing in states can be done using state spaces or using integer values</li>
<li>Bug fixes for planning with controls</li>
<li>Minor doc improvements</li>
</ul>
<h2><a class="anchor" id="release_0_9_1"></a>
OMPL 0.9.1 (December 17, 2010)</h2>
<ul>
<li>Minor updates to build system</li>
</ul>
<h2><a class="anchor" id="release_0_9_0"></a>
OMPL 0.9.0 (December 15, 2010; initial release)</h2>
<ul>
<li>Implementations of many state-of-the-art sampling-based motion planning algorithms. For purely geometric planning, there are implementations of KPIECE, SBL, RRT, RRT Connect, EST, PRM, Lazy RRT, and others. For planning with differential constraints there are implementations of KPIECE and RRT. Addition of new planners poses very few constraints on the added code.</li>
<li>A flexible mechanism for constructing arbitrarily complex configuration spaces and control spaces from simpler ones.</li>
<li>A general method of defining goals: as states, as regions in configuration space, or implicitly.</li>
<li>Various sampling strategies and an easy way to add other ones.</li>
<li>Automatic selection of reasonable default parameters. Performance can be improved by tuning parameters, but solutions can be obtained without setting any parameters.</li>
<li>Support for planning with the Open Dynamics Engine, a popular physics simulator.</li>
<li>Tools for systematic, large-scale benchmarking.</li>
</ul>
</div></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
</div>
<div class="footer span-22 push-2 last">
<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:41 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>
distrib
>
Fedora
>
14
>
x86_64
>
media
>
updates
>
by-pkgid
>
e7618febbb9cbed15bb79e326774c050
>
files
>
1682
