fixes in RT instance generator
max speed of an agent is now represented by a float
Renamed EarliestArrivalProblem to TrajectoryCoordinationProblem which is now an umbrella interface for EarliestArrival and RelocationTask Problems.
Introduced new interface RelocationTaskCoordinationProblem. TrajectoryCoordinationProblemImpl implements both EarliestArrivalProblem and RelocationTaskCoordinationProblem.
EarliestArrivalProblem can now contain a list of taks
Added relocation task interface and default implementation
Reverted some debugging vis.
added new corridor environment, changed visualization etc.
Solver now recognizes parameter -samplinginterval
Started using ConstantStepSegmentedTrajectory to improve performance of finding position for a particular timepoint.
Minor changes to visualization
made some of the layers togglable
samplingInterval set to 10
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
ProblemInstanceDesigner -- second argument can be used to specify the output file, agent start and goal positions snap to graph.
Moved a method from trajectory tools.
Solver now handles OutOfMemoryError
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.
Added infrastructure checker tool that can be used if a particular environment is a valid infrastructure.
VisUtil.visualizeProblem now draws the planning graph as well.
visualization of environment changed, boundary is not filled anymore
added agent number to mission visualization
a bug fix
ProblemDesigner can now extend existing problems. In particular, one can click on the nodes of the planning graph to specify the docks.
Adding support for creating roadmaps with infrastructure property in the triangulation generator
Instance generator now supports flag -sgnoverlap that asserts that start and goal positions of the robots do not overlap
Docks visualization fix
Problem designer can be used to add docks to the problem.
TriangulationGenerator can generate infrastructures.
Added mission visualization.
addded timestep to Parameters
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
adaptation to changes in tt.
Added willow-full and ubremen environment.
added bgImage to parameters
Fixed a bug
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 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.
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