All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
Changelog

April 15, 2011

  • Added ability to generate random paths

April 5, 2011

  • Added bi-directional version of KPIECE (BKPIECE)
  • Removed use of hill climbing in KPIECE
  • Added a common Discretization to be used by all KPIECE-type planners
  • bugfix for SO2StateManifold

March 21, 2011

  • Some work on automatic computation of cell sizes for projections

March 17, 2011

  • Path smoothing with B-Splines

March 10, 2011

  • Expose magic constants

February 15, 2011

  • StateValidityChecker allows for distances to invalid states to be specified
  • Improvements to GAIK and Profiler

February 10, 2011

  • Function to visualize the structure of a manifold (diagram())
  • Additions and bugfixes for state operators

February 5, 2011

  • Bugfix for planning with controls

January 14, 2011

  • Convenience operators on scoped states: state[index] will return a double value, if one exists, state[manifold] will return the part of the state that corresponds to the specified manifold. manifold1 + manifold2 yields the Cartesian product of the two. A corresponding - operator exists as well.

December 31, 2010

  • Added copyToReals/copyFromReals for states & controls

November 15, 2010

  • Improved ODE bindings
  • Added support for sampling controls based on the previous control and/or the state at which the control will be executed.

November 10, 2010

  • Added a new function for shortening computed solution paths: collapseCloseVertices()
  • Added a repair() function to PathGeometric.
  • Added a representation of time as a state manifold (TimeStateManifold)

November 3, 2010

  • Added support for ODE bindings
  • Added support for compound projections

October 7, 2010

  • Added the concept of MotionValidator for checking validity of path segments.
  • The collision checking resolution is a percentage of the extent of the entire space
  • Generic termination conditions for planners
  • Added benchmakring for planning under geometric constraints
  • Added registerDefaultProjection() for StateManifold.

August 9, 2010

  • Including the following sampling-based motion planning algorithms (inherit from ompl::base::Planner):
    • planning under geometric constraints: KPIECE, LBKPIECE, SBL, pSBL, EST, RRT, pRRT, RRTConnect, LazyRRT, PRM
    • planning under differential constraints: KPIECE, RRT
  • 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 (ompl::base::Goal). More specifically, the goal can designate a region and can compute an approximate distance to this region (ompl::base::GoalRegion). This is useful when biasing planners is desirable. A further layer of abstraction allows sampling these regions (ompl::base::GoalSampleableRegion). Instantiations of this latter abstraction for a goal state (ompl::base::GoalState) and a set of states (ompl::base::GoalStates) are provided.
  • Support for Python bindings