1. 20 May, 2021 1 commit
    • Brian Hou's avatar
      Update Project 4: Planning. · ceaf63a2
      Brian Hou authored
      Vectorize Dubins path computation. This is orders of magnitudes faster than the
      previous implementation, so graph caching is now less necessary. As a result,
      only graphs for ROS maps are cached; the other test maps are too small to merit
      the hassle.
      
      Fix a serious issue with PlanarProblems. Distances were previously measured in
      pixels rather than meters. As a result, the connection radius and curvature
      parameters didn't have a clear physical interpretation, and would differ based
      on the resolution of the map (the conversion factor between meters and pixels).
      
      Add a more efficient edge visualization to RViz, which incrementally sends edges
      to be visualized.
      
      Fix minor bugs with zero edges and zero valid samples.
      
      Set a minimum controller speed to avoid issues with reference velocities of
      zero. This would occur at the end of a path.
      ceaf63a2
  2. 12 May, 2021 1 commit
  3. 04 May, 2021 1 commit