RT instance generator does not store the list of tasks anymore
max speed of an agent is now represented by a float
Reverted some debugging vis.
added new corridor environment, changed visualization etc.
Started using ConstantStepSegmentedTrajectory to improve performance of finding position for a particular timepoint.
made some of the layers togglable
minonr bug fix
The samplingInterval has been set inside each algorithm. Pulled out and it is now set centrally in main().
Introduced minPenalty, added some more printouts
Minot changes to visualization
Summary contains the status at the termination of the algorithm -- SUCCESS, FAIL or TIMEOUT.
When the -timestep parameter is provided, the edges of the graph are broken into smaller edges that take exactly timestep to travel. This allows to use OD-C^n on the graph.
Fixed broken JUnit tests.
preparing the code for experiment
refactored the design of solver
introduced -waitmove parameters to the Solver
kDPM made working again, added support for -bgimg, switched to discretized time dimension
AStarTrajectoryOptimizer now supports constant discretization of the time dimension.
VisUtil.visualizeProblem now draws the planning graph as well.
addded timestep to Parameters
new field in Parameters + renamed maps
adaptation to changes in tt.
added bgImage to parameters
Started the implementation of generalized SIPP. Work in progress.
moved SIPP-related stuff to euclidtime3i package
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.
merge and idea files removed from the project
minor refactoring in the trajectory interface
Triangulation works on 78_obstacles
Merge with 7a610f98409d52cc38981ac092edccacec0649a6
DynamicEnvironment interface redefined, collision checking in SippRRT domain implemented
Rectangular Bounds -> Polygonal Boundary
Added support for storing roadmaps in xml problemfiles
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 environment introduced
two classes representing dynamic and static environment introduced to simplify interface of multiple functions used in sipp
Forgotten file (AlgorithmPPSIPP)
Graph in SIPPWrapper changed to Directed graph
Changed the way polygons are visualized. Now only the border is shown.
Added support for polygons that are filled outside.
Problem with generating full for SIPP temporaly fixed
uncomitted files from previous commit
minor refactoring in AlgorithmODCN
minor fix in AbstractAlgorithm
additional points extension point now generates full graph
CSAIL map works
superconflict for illustration
Fixed the DPM to support k=2
Fixes and improvements of the DPM planner
KSFSO renamed to KDPMD
Gradient Optimizer and kDPM-C kind of work
introduced time to penalty function
Fixed broken parts of the code. IIHP is currently broken.
GradientOptimizer seems to work
Added progress visualization. Introduced tan multiplier.
Merge with 715b9aad3451fcc3194257ea8cd337472774170b
Optimized the behaviour of the conflict generator
Solver method changed to work with UnifiedSolver
Added hard constraint phase to SFO planner, SFO uses BumpFunction and refactorizations
Added support for L1 and L2 heuristics
KSFO and PP now generate trajectories up to maxtime.
Fixed summary outputs
KSFO -k 1 was sometimes willing to accept high penalties instead of returning solution non-existence. Fixed.
Added -k parameter to the solver that controls the number of iterations performed by KSFO
Drastic refactoring of the separable optimal flow optimizer (iterative planner) work in progress
few minor fixes
1) Vizualization now shows the algorithm name2) OD now has a option to stop3) All the edges returned by od has a fixed time duration
problem with visualization of PP fixed
PP was throwing UnsuportedOperation exceptions while trying to visualize motion graph
Fixed problem with subobtimality.
Algorithm did not stop exploring the search space subspace of agent after finding its state to be a goal state.
Time limit was not properly implemented in OD solvere. Also null pointer exception was thrown if the algorithm did not found solution.
OD renamed to ODCN
testsuite and instance generator uses the name ODCN
OD_PIN renamed to ODPIN
testsuite and instance generator uses the name ODPIN
Prioritized Planning uses perfect heuristics
added setter to prioritized planning solver just to add the option to use different heuristics
Fixed visualization exceptions
Merge with b103e25ca12afee6a5ae8eab5905f5b4a2c8c740
Merge with e2234922273a1875c97911cbe45158d5a35e6eb7
New solver replaced old one
and also Enum containing implemented algorithms was extracted. Test for OD introduced.
super class solver was refactored into multiple of simple classes