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ompl-devel-0.9.5-1.fc14.i686.rpm

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<div class="title">Changelog </div>  </div>
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<div class="contents">
<div class="textblock"><h2><a class="anchor" id="aug_10_2011"></a>
August 10, 2011</h2>
<ul>
<li>Replaced the implementation of BasicPRM with PRM. Thanks to James Marble, the new implementation uses BGL.</li>
</ul>
<h2><a class="anchor" id="jul_21_2011"></a>
July 21, 2011</h2>
<ul>
<li>Added isStraightLinePathValid() to PlannerDefinition</li>
</ul>
<h2><a class="anchor" id="jul_12_2011"></a>
July 12, 2011</h2>
<ul>
<li>Using boost ublas for real vector projections</li>
</ul>
<h2><a class="anchor" id="jul_9_2011"></a>
July 9, 2011</h2>
<ul>
<li>Benchmarked planners are now run in a separate thread (and termination conditions are evaluated separately, to detect crashes)</li>
</ul>
<h2><a class="anchor" id="jul_5_2011"></a>
July 5, 2011</h2>
<ul>
<li>Added GNAT nearest neighbors datastructure</li>
</ul>
<h2><a class="anchor" id="jun_29_2011"></a>
June 29, 2011</h2>
<ul>
<li>Moved state propagation functionality from ControlSpace to a separate StatePropagator class</li>
</ul>
<h2><a class="anchor" id="june_22_2011"></a>
June 22, 2011</h2>
<ul>
<li>Added representation of a discrete state space</li>
</ul>
<h2><a class="anchor" id="june_15_2011"></a>
June 15, 2011</h2>
<ul>
<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>Add sanity checks for state spaces</li>
</ul>
<h2><a class="anchor" id="june_8_2011"></a>
June 8, 2011</h2>
<ul>
<li>Added representation of probability density functions (PDF)</li>
<li>Added getType() for Goal and replaced getType() for planners by getSpecs()</li>
<li>Documentation fixes</li>
</ul>
<h2><a class="anchor" id="june_3_2011"></a>
June 3, 2011</h2>
<ul>
<li>Added notion of probability of success for goals</li>
<li>Added initial version of RRTstar contribution</li>
</ul>
<h2><a class="anchor" id="may_20_2011"></a>
May 20, 2011</h2>
<ul>
<li>Generalized planner termination conditions. The user can now call terminate() at any time to signal a planner it should stop its computation</li>
</ul>
<h2><a class="anchor" id="may_19_2011"></a>
May 19, 2011</h2>
<ul>
<li>Renamed StateManifold to StateSpace and ControlManifold to ControlSpace</li>
</ul>
<h2><a class="anchor" id="apr_15_2011"></a>
April 15, 2011</h2>
<ul>
<li>Added ability to generate random paths</li>
</ul>
<h2><a class="anchor" id="apr_05_2011"></a>
April 5, 2011</h2>
<ul>
<li>Added bi-directional version of KPIECE (BKPIECE)</li>
<li>Removed use of hill climbing in KPIECE</li>
<li>Added a common Discretization to be used by all KPIECE-type planners</li>
<li>bugfix for SO2StateSpace</li>
</ul>
<h2><a class="anchor" id="mar_21_2011"></a>
March 21, 2011</h2>
<ul>
<li>Some work on automatic computation of cell sizes for projections</li>
</ul>
<h2><a class="anchor" id="mar_17_2011"></a>
March 17, 2011</h2>
<ul>
<li>Path smoothing with B-Splines</li>
</ul>
<h2><a class="anchor" id="mar_10_2011"></a>
March 10, 2011</h2>
<ul>
<li>Expose magic constants</li>
</ul>
<h2><a class="anchor" id="feb_15_2011"></a>
February 15, 2011</h2>
<ul>
<li>StateValidityChecker allows for distances to invalid states to be specified</li>
<li>Improvements to GAIK and Profiler</li>
</ul>
<h2><a class="anchor" id="feb_10_2011"></a>
February 10, 2011</h2>
<ul>
<li>Function to visualize the structure of a state space (diagram())</li>
<li>Additions and bugfixes for state operators</li>
</ul>
<h2><a class="anchor" id="feb_5_2011"></a>
February 5, 2011</h2>
<ul>
<li>Bugfix for planning with controls</li>
</ul>
<h2><a class="anchor" id="jan_14_2011"></a>
January 14, 2011</h2>
<ul>
<li>Convenience operators on scoped states: state[index] will return a double value, if one exists, state[space] will return the part of the state that corresponds to the specified state space. space1 + space2 yields the Cartesian product of the two. A corresponding - operator exists as well.</li>
</ul>
<h2><a class="anchor" id="dec_31_2010"></a>
December 31, 2010</h2>
<ul>
<li>Added copyToReals/copyFromReals for states &amp; controls</li>
</ul>
<h2><a class="anchor" id="nov_15_2010"></a>
November 15, 2010</h2>
<ul>
<li>Improved ODE bindings</li>
<li>Added support for sampling controls based on the previous control and/or the state at which the control will be executed.</li>
</ul>
<h2><a class="anchor" id="nov_10_2010"></a>
November 10, 2010</h2>
<ul>
<li>Added a new function for shortening computed solution paths: collapseCloseVertices()</li>
<li>Added a repair() function to PathGeometric.</li>
<li>Added a representation of time as a state space (TimeStateSpace)</li>
</ul>
<h2><a class="anchor" id="nov_03_2010"></a>
November 3, 2010</h2>
<ul>
<li>Added support for ODE bindings</li>
<li>Added support for compound projections</li>
</ul>
<h2><a class="anchor" id="oct_07_2010"></a>
October 7, 2010</h2>
<ul>
<li>Added the concept of MotionValidator for checking validity of path segments.</li>
<li>The collision checking resolution is a percentage of the extent of the entire space</li>
<li>Generic termination conditions for planners</li>
<li>Added benchmakring for planning under geometric constraints</li>
<li>Added registerDefaultProjection() for StateSpace.</li>
</ul>
<h2><a class="anchor" id="aug_09_2010"></a>
August 9, 2010</h2>
<ul>
<li>Including the following sampling-based motion planning algorithms (inherit from <a class="el" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">ompl::base::Planner</a>):<ul>
<li>planning under geometric constraints: KPIECE, LBKPIECE, SBL, pSBL, EST, RRT, pRRT, RRTConnect, LazyRRT, PRM</li>
<li>planning under differential constraints: KPIECE, RRT</li>
</ul>
</li>
</ul>
<ul>
<li>The representation of states (<a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ompl::base::State</a>) is abstract: state spaces that operate on states (<a class="el" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ompl::base::StateSpace</a>) and controls (<a class="el" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ompl::control::ControlSpace</a>) need to be defined. Based on the topology-specific functionality offered by these state spaces, primitives used by algorithms are implemented (<a class="el" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">ompl::base::SpaceInformation</a> and <a class="el" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">ompl::control::SpaceInformation</a>). Euclidean projections are defined for StateSpace using registerProjection()</li>
</ul>
<ul>
<li>The representation of goals is abstract. In the most general case, a goal is a predicate function that states whether the goal has been reached or not (<a class="el" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">ompl::base::Goal</a>). More specifically, the goal can designate a region and can compute an approximate distance to this region (<a class="el" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">ompl::base::GoalRegion</a>). This is useful when biasing planners is desirable. A further layer of abstraction allows sampling these regions (<a class="el" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">ompl::base::GoalSampleableRegion</a>). Instantiations of this latter abstraction for a goal state (<a class="el" href="classompl_1_1base_1_1GoalState.html" title="Definition of a goal state.">ompl::base::GoalState</a>) and a set of states (<a class="el" href="classompl_1_1base_1_1GoalStates.html" title="Definition of a set of goal states.">ompl::base::GoalStates</a>) are provided.</li>
</ul>
<ul>
<li>The start states and goal representation are specified as a problem definition (<a class="el" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ompl::base::ProblemDefinition</a>)</li>
</ul>
<ul>
<li>State validity checking is external to this library (<a class="el" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">ompl::base::StateValidityChecker</a>).</li>
</ul>
<ul>
<li>Support for Python bindings </li>
</ul>
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