Triangulation generator can now generate sparse docks
customized the visualization
radius_grace = 1.3
Merge with 870c1e254ff01d9664e9c4bf2407d190707861f0
Backed out of changeset 216:ae72eb1e2823
Added radius grace to conflict generator.
XML deserializer reports on the size of the planning graph
Merge with 76dde0ef7b90fb367431f176b8c150a69d82d3ee
conflict generator can be parameterized to a) create single conflict cluster b) ensure that the instance allows start-goal avoiding paths.
new field in Parameters + renamed maps
Added new map "Bremen".
adaptation to changes in tt.
Added willow-full and ubremen environment.
added new d-envs.
added bgImage to parameters
Fixed a bug
Fixed test to work on Java 8
Conflict generator now generates start-goal avoiding missions using reachability test after a new end point is added.
Conflict generator fixed to generate start-goal avoiding configurations.
GenerateInstance now support parameters -onecluster and -sgavoiding
Cleaned-up conflict generator. Triangulation generator can generate dock positions near the border. Conflicts can be now generated using these "dock" positions loaded from problem xml file.
Refactoring the conflict generator. Work in progress.
An attempt to create "dock" positions near the boundary of the environment. Work in progress.
added environment bitmaps
Added support for visualizing the background bitmap.
Generated new problem instances.
Conflict generator now generates instances that satisfy start-goal avoiding property
Started the implementation of generalized SIPP. Work in progress.
Conflict generator generates instances that satisfy the start-goal avoiding property.
Added a demo demonstration SIPP with two moving obstacles.
moved SIPP-related stuff to euclidtime3i package
Merge with 4b78d365767044646c410d272f82094173acde93
Added projection to time.
Resolved TODO removed from SippRRTDomain
Unneceseary NodePair class replaced simply by Line2i as a key in map
SippRRTStar extends EuclideanRRTStar and together with the SippRRTDomain make rewiring possible
Major bug fixed in SafeIntervalBuilder
While building a safe interval each time segment must be sampled only once
Major refactoring in SippRRTDomain
Part of the code rewritten from scratch according to the SippWrapper implementation. Temporally fixed bug causing discontinuity of the resulting path while rewiring
Major refactoring of SafeIntervalBuilder
The safe interval builder now contains all functionality to calculate safe intervals. It was moved there from the SippUtils class. The implementations were cleaned up using functional approach.
Major refactoring and debugging of the SIPPWrapper
Safe intervals are now calculated up to the defined maxtime so it is important to keep the maxtime consistent over all used objects (SippWrapper, SippGoal, DynamicEnvironment, etc.). Generics was also removed from the SippWrapper itself because it was not used anymore. The functionaliy of SippWrapper was rewriten from scratch just to make it as clean as possible.
Major fix in SIPPRRTDomain
missing collision checking with the boundary added
Major fix in EuclidTime3iRRTDomain
missing collision checking with static obstacles added
Both Space-Time RRT implementation now samples directly the given region (not its bounding box)
Factory method added to the time parameter holder
SippRRTUtils.toTrajectory now returns a SegmentedTrajectory
Color bug fix in VisUtils
Agents being drawn using visualizeSingleTrajectory method are ensured to have unique color
Method for single trajectory visualization added to VisUtil class
Dynamic environment generator fixed
environment is generated in such way that some solution for given agent mission should exist
Dynamic environment generator introduced
dynami environment visualization method added to visutil
bugfix in visutil
white background layer moved from problem visualization method to initialization method
handling empty vertex set in problem generator
null pointer exception fixed in problem generator
function renamed in tt
unneceseary statemants removed from ODNode
Added 78_obstacles d-environments
Merge with 0fc70261a28619ff587f6e00de61600c12712b9f
alternative implementaion of rrtstar iteration used in sipprrt demo
euclid 3i rrt implemented
merge and idea files removed from the project
euclidtime3i rrt introduced
minor refactoring in the trajectory interface
Merge with 12a22c833fc6521161c4828dba42f68033aaa9d1
TODO problem marked in ODDemo
ODNode now uses fast analytic solution to edge deconfliction problem
simpler problem generator introduced
Triangulation works on 78_obstacles
Merge with 7a610f98409d52cc38981ac092edccacec0649a6
Instance generator support -showvis parameter
DynamicEnvironment interface redefined, collision checking in SippRRT domain implemented
important bugfix in SIPPRRT, additional visualization added
visualization classes added to project, minor fix
Rectangular Bounds -> Polygonal Boundary
Added support for storing roadmaps in xml problemfiles
missing dynamic environment interface added to mercurial
SIPP refactored to Sipp in the names of the classes
sipp major changes
StaticEnvironment class replaced by already existing Environment class, two interfaces extracted
sipp minor fix
dimension fixed - with the additional time axis the dimension is 3
dynamic environment class is used in multiple of function interfaces
sipp environment introduced
two classes representing dynamic and static environment introduced to simplify interface of multiple functions used in sipp