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325 Commits

Author SHA1 Message Date
Guillaume Jacquenot
00f8fd37d3 Replaced sqrt(x**2+y**2) with hypot in PathPlanning/ClosedLoopRRTStar/pure_pursuit.py 2019-12-07 23:27:56 +01:00
Guillaume Jacquenot
1eb3ebbf26 Replaced sqrt(x**2+y**2) with hypot in PathPlanning/DynamicWindowApproach/dynamic_window_approach.py 2019-12-07 22:22:47 +01:00
Guillaume Jacquenot
06cbcc3ee5 Replaced sqrt(x**2+y**2) with hypot in PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py 2019-12-07 22:22:14 +01:00
Guillaume Jacquenot
5221a9df2a Replaced sqrt(x**2+y**2) with hypot in PathPlanning/InformedRRTStar/informed_rrt_star.py 2019-12-07 22:21:29 +01:00
Guillaume Jacquenot
26cff8e69f Replaced sqrt(x**2+y**2) with hypot in PathPlanning/RRT/rrt.py 2019-12-07 22:20:58 +01:00
Atsushi Sakai
6489cbc902 Merge branch 'master' into master 2019-11-17 13:51:39 +09:00
Atsushi Sakai
a554811e56 Merge pull request #241 from FranciscoMoretti/fix_informed_RRTS_ignores_obstacles 
fix #233 improve check segment intersection with obstacle
 2019-11-17 13:47:43 +09:00
Francisco Moretti
3e5cad8192 fix indentation 2019-11-03 12:23:48 -03:00
Francisco Moretti
178dca3e34 add collision check to node near to goal 2019-11-03 12:12:53 -03:00
Francisco Moretti
3f14311cc5 correct variable name 2019-11-03 12:07:56 -03:00
Göktuğ Karakaşlı
97570de50c Fix wrong rotation direction 
- The obstacle rotation for the rectangle obstacle calculation
is wrong. It should be positive instead of negative.
 2019-10-27 11:21:02 +03:00
Mengge Jin
69772b4ad6 Remove PathLen in informed RRT* and instead with cBest 2019-10-27 16:08:28 +08:00
Atsushi Sakai
245838250b fix unittests. 2019-10-20 15:00:57 +09:00
Atsushi Sakai
35ea4b955c code clean up for DWA 2019-10-17 21:53:39 +09:00
Francisco Moretti
c1ba9bab0a fix check segment intersection with obstacle 
The previous method only worked because the step that checked collision
from a point of the line to obstacles was the same as the minimum
obstacle radius. If the obstacle radius is very small a great amount of
steps would be required.
Thus It's better to check the distance from the segment to the obstacles
directly and compare with obstacle radius
Now there is no need to have two check functions.
 2019-10-17 09:09:54 -03:00
Göktuğ Karakaşlı
adb4e99ceb Fix transpose error of the rotation matrix 2019-10-16 21:03:18 +03:00
Göktuğ Karakaşlı
0ec56812be Add type checking for robot_type 2019-10-16 20:17:46 +03:00
Göktuğ Karakaşlı
bcdf088684 Change robot_type comparison to enum class named RobotType 
- Instead of using string based comparison for robot_type, use Enum class.
- Append authors
 2019-10-16 19:19:11 +03:00
Göktuğ Karakaşlı
4cedb7aad4 Add rectangle robot type and collision check 
Add collision check for rectangle robots
Add new function to draw robot depending on the type
 2019-10-15 21:55:56 +03:00
Göktuğ Karakaşlı
dee0fe7414 Merge branch 'master' of https://github.com/AtsushiSakai/PythonRobotics 2019-10-15 21:27:56 +03:00
Atsushi Sakai
87a5517c3a code clean up for DWA sample. 2019-10-15 21:56:17 +09:00
Göktuğ Karakaşlı
23c73567d6 Optimize the obstacle cost calculation. 
The calculation was too slow to work with more obstacles.
The calculation function is vectorized to increase the speed.
 2019-10-12 15:08:20 +03:00
Göktuğ Karakaşlı
07f07814a2 Merge branch 'master' of https://github.com/AtsushiSakai/PythonRobotics 2019-10-12 14:40:53 +03:00
Göktuğ Karakaşlı
8fb4b8a564 optimize obstacle cost calculation 
The obstacle calculation was too slow to work with more obstacles,
it is vectorized to speed up the calculation.
 2019-10-12 14:35:00 +03:00
sszwfy
b942c430e6 fix error for goal cost angle 2019-10-06 14:32:22 +08:00
Atsushi Sakai
d2da3abe25 fix safe index reference 2019-10-05 18:00:18 +09:00
Atsushi Sakai
295645f416 fixed rrt star.py 2019-10-02 20:51:22 +09:00
Atsushi Sakai
a5c7096c7b fixed rrt_with_pathsmoothing.py 2019-10-02 20:28:59 +09:00
Atsushi Sakai
3cef87ea3f fixed rrt.py 2019-10-02 20:19:33 +09:00
Atsushi Sakai
eefa6bf20a try to check collision check bug 2019-10-01 20:10:42 +09:00
Atsushi Sakai
ae32cb332a fix early termination bug. fix #223 2019-09-12 20:26:48 +09:00
Atsushi Sakai
86cf6f96f4 Merge pull request #222 from zhkmxx9302013/master 
Update motion_model.py
 2019-09-07 19:45:16 +09:00
Zhao Zihe
7c1a1ddd66 Update motion_model.py 
fix the problem of the unsafe type in the `scipy.interpolate`
 2019-09-07 16:28:06 +08:00
Atsushi Sakai
a48bacd6cf Update state_lattice_planner.py 2019-08-22 21:32:02 +09:00
Atsushi Sakai
76074568ce fix test 2019-08-03 14:33:58 +09:00
Atsushi Sakai
625b00b5b8 add no cover annotations 2019-08-03 14:22:48 +09:00
Atsushi Sakai
097a289a88 code clean up for informed rrt star 2019-08-03 14:04:10 +09:00
Atsushi Sakai
38373ac7de fix batch_informed_rrtstar.py 2019-08-03 13:45:20 +09:00
Atsushi Sakai
76977ac256 cleanup closed loop RRT star. 2019-07-28 19:50:02 +09:00
Atsushi Sakai
0747db006f clean up model_predictive_trajectory gene 2019-07-28 15:16:00 +09:00
Atsushi Sakai
5c15bc0357 clean up quintic_polynomial_planner 2019-07-28 15:12:26 +09:00
Atsushi Sakai
86b80d55c3 clean up lqr planner 2019-07-28 15:04:15 +09:00
Atsushi Sakai
8061e73337 fix LQR rrt star 2019-07-27 16:32:40 +09:00
Atsushi Sakai
0937486803 fix rrt star reeds shepp rewire and test 2019-07-27 15:56:16 +09:00
Atsushi Sakai
67540275a6 fix RRTDubins 2019-07-27 15:25:50 +09:00
Atsushi Sakai
d9508f6e72 fix rrt_star_dubins 2019-07-27 15:08:25 +09:00
Atsushi Sakai
2bf23adb27 code clean up again 2019-07-20 12:01:03 +09:00
Atsushi Sakai
d7c570bf97 remove duplicate script 2019-07-19 20:39:41 +09:00
Atsushi Sakai
8ff5df7463 start implementing. 2019-07-19 20:35:55 +09:00
Atsushi Sakai
33d62af0dd update import for travis 2019-07-15 12:13:53 +09:00