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feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning #8089

Merged
merged 90 commits into from
Aug 14, 2024
Merged

feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning #8089

merged 90 commits into from
Aug 14, 2024

Commits on Jul 1, 2024

  1. refactor freespace planning algorithms 

    Signed-off-by: mohammad alqudah <[email protected]>
    @mkquda
    mkquda committed Jul 1, 2024
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Commits on Jul 2, 2024

  1. fix error 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. use vector instead of map for a-star node graph 

    Signed-off-by: mohammad alqudah <[email protected]>
    @mkquda
    mkquda committed Jul 2, 2024
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  3. remove unnecessary parameters 

    Signed-off-by: mohammad alqudah <[email protected]>
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  4. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm
    @mkquda
    mkquda committed Jul 2, 2024
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  5. precompute average turning radius 

    Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 3, 2024

  1. add threshold for minimum distance between direction changes 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. apply curvature weight and change in curvature weight 

    Signed-off-by: mohammad alqudah <[email protected]>
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  3. store total cost instead of heuristic cost 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 3, 2024
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  4. fix reverse weight application 

    Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 4, 2024

  1. fix parameter description in README 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. implement edt map to store distance to nearest obstacle for each grid… 

    … cell

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  3. use obstacle edt in collision check 

    Signed-off-by: mohammad alqudah <[email protected]>
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  4. add cost for distance to obstacle 

    Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 5, 2024

  1. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm

Signed-off-by: mohammad alqudah <[email protected]>
    @mkquda
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  2. fix formats 

    Signed-off-by: mohammad alqudah <[email protected]>
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  3. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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  4. add missing include 

    Signed-off-by: mohammad alqudah <[email protected]>
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  5. refactor functions 

    Signed-off-by: mohammad alqudah <[email protected]>
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  6. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
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  7. add missing include 

    Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 8, 2024

  1. precompute number of margin cells to reduce out of range vertices che… 

    …ck necessity

Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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  3. add reset data function 

    Signed-off-by: mohammad alqudah <[email protected]>
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  4. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
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  5. add member function set() to AstarNode struct 

    Signed-off-by: mohammad alqudah <[email protected]>
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  6. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
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Commits on Jul 9, 2024

  1. implement adaptive expansion distance 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. remove unnecessary code 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 9, 2024
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  3. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
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  4. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm
    @mkquda
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  5. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
    mkquda committed Jul 9, 2024
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Commits on Jul 10, 2024

  1. interpolate nodes with large expansion distance 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. minor refactor 

    Signed-off-by: mohammad alqudah <[email protected]>
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  3. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 11, 2024

  1. ensure expansion distance is larger than grid cell diagonal 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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  3. compute collision free distance to goal map 

    Signed-off-by: mohammad alqudah <[email protected]>
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  4. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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  5. use obstacle edt when computing collision free distance map 

    Signed-off-by: mohammad alqudah <[email protected]>
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  6. minor refactor 

    Signed-off-by: mohammad alqudah <[email protected]>
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  7. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 12, 2024

  1. fix expansion cost function 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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  3. set distance map before setting start node 

    Signed-off-by: mohammad alqudah <[email protected]>
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  4. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
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Commits on Jul 16, 2024

  1. refactor detect collision function 

    Signed-off-by: mohammad alqudah <[email protected]>
    @mkquda
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  2. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm
    @mkquda
    mkquda committed Jul 16, 2024
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  3. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
    mkquda committed Jul 16, 2024
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  4. add missing variable initialization 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 16, 2024
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  5. remove declared but undefined function 

    Signed-off-by: mohammad alqudah <[email protected]>
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  6. remove unnecessary checks 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 16, 2024
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Commits on Jul 17, 2024

  1. minor fix 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
    @mkquda
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  3. refactor computeEDTMap function 

    Signed-off-by: mohammad alqudah <[email protected]>
    @mkquda
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  4. remove unnecessary code 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 17, 2024
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  5. set min and max expansion distance after setting costmap 

    Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 18, 2024

  1. refactor detectCollision function 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. remove unused function 

    Signed-off-by: mohammad alqudah <[email protected]>
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  3. change default parameter values 

    Signed-off-by: mohammad alqudah <[email protected]>
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  4. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

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Commits on Jul 19, 2024

  1. fix computeEDTMap function 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm
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  3. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
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Commits on Jul 22, 2024

  1. rename parameter 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

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  3. use linear function for obstacle distance cost 

    Signed-off-by: mohammad alqudah <[email protected]>
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  4. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm

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  5. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
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Commits on Jul 23, 2024

  1. fix rrtstar obstacle check 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
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  3. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm
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  4. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
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Commits on Jul 26, 2024

  1. remove redundant return statements 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

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  3. Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor… 

    …ithm
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  4. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance
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Commits on Jul 29, 2024

  1. check goal pose validity before setting collision free distance map 

    Signed-off-by: mohammad alqudah <[email protected]>
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  2. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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  3. declare variables as const where necessary 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 29, 2024
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  4. Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69… 

    …61-use-edt-map-to-improve-collision-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 29, 2024
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  5. Merge branch 'awf-latest' into RT1-6961-use-edt-map-to-improve-collis… 

    …ion-check-performance

Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Jul 29, 2024
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Commits on Aug 5, 2024

  1. Merge branch 'awf-latest' into RT1-6961-use-edt-map-to-improve-collis… 

    …ion-check-performance
    @mkquda
    mkquda committed Aug 5, 2024
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  2. compare front and back lengths when setting min and max dimension 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Aug 5, 2024
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  3. add docstring and citation for computeEDTMap function 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Aug 5, 2024
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Commits on Aug 7, 2024

  1. Merge branch 'main' into RT1-6961-use-edt-map-to-improve-collision-ch… 

    …eck-performance
    @maxime-clem
    maxime-clem authored Aug 7, 2024
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Commits on Aug 8, 2024

  1. Merge branch 'awf-latest' into RT1-6961-use-edt-map-to-improve-collis… 

    …ion-check-performance
    @mkquda
    mkquda committed Aug 8, 2024
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Commits on Aug 13, 2024

  1. Merge branch 'awf-latest' into RT1-6961-use-edt-map-to-improve-collis… 

    …ion-check-performance
    @mkquda
    mkquda committed Aug 13, 2024
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  2. suppress spell check 

    Signed-off-by: mohammad alqudah <[email protected]>
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    mkquda committed Aug 13, 2024
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  3. Merge branch 'main' into RT1-6961-use-edt-map-to-improve-collision-ch… 

    …eck-performance
    @mkquda
    mkquda authored Aug 13, 2024
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