1. 24 May, 2021 1 commit
    • Brian Hou's avatar
      Update Project 4: Planning. · 8c304ac2
      Brian Hou authored
      Add new autograder tests to catch sampler and collision-checking errors
      earlier. In particular, the sampler tests should help identify scaling errors
      and clarify expected behavior. Also, the collision-checking tests using
      MapMetaData should help catch errors before running planner_sim.launch.
      8c304ac2
  2. 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
  3. 18 May, 2021 1 commit
  4. 12 May, 2021 2 commits
  5. 06 May, 2021 1 commit
  6. 04 May, 2021 1 commit
  7. 26 Apr, 2021 1 commit
    • Brian Hou's avatar
      Update Project 2: Localization. · 29e0bab8
      Brian Hou authored
      Fix minor bug in resample test: the weights array had the wrong shape.
      
      Add more motion model tests to identify turning issues.
      
      Show particle filter plot legend to label state estimate vs ground truth.
      29e0bab8
  8. 22 Apr, 2021 1 commit
    • Brian Hou's avatar
      Update Project 2: Localization. · ffcfcee7
      Brian Hou authored
      Fix bugs in sensor model autograder tests. Specifically, the probability table
      was being normalized along the wrong axis.
      
      Add test suite for particle initializer. Add new tests to catch resampling
      errors earlier.
      
      Fix small issue in sensor model likelihood plot that affected some maps. Add new
      small map to help with sensor model tuning.
      
      Reduce excessive locking in particle filter, motion model, and sensor model.
      ffcfcee7
  9. 21 Apr, 2021 1 commit
    • Brian Hou's avatar
      Update Project 2: Localization. · c0ec79dc
      Brian Hou authored
      Add new autograder tests to catch motion model errors earlier. In particular,
      later particle filter tests will fail with a slow unvectorized motion model
      implementation.
      
      Update sensor model likelihood plot with a more interpretable default option
      that only considers the particle positions (and doesn't encode their angle with
      color). The option to color particles by angle is still available with
      show_angle=True, and further emphasizes confident particles to make them more
      visible.
      c0ec79dc
  10. 14 Apr, 2021 1 commit
  11. 02 Apr, 2021 1 commit