Change Log

v1.3.0

6 Nov 2024

  1. Added a Roadmap class to handle all roadmap geometric functionality

  2. Reorganized the modules under ‘src/solvers’ dir and split them to ‘solvers’ which contain only proper solvers and ‘solvers_infra’ that contain all the infrastructure and base class for writing a solver (like the classes Solver, Roadmap, Scene)

  3. Scenario Runner:

    1. Added an option to add custom handlers that will also process the results

    2. Adding CLI interface which allows running experiments from command line, and splitting the experiment into chunks

v1.2.0

7 Oct 2024

  1. Adding solver for algorithms:

    1. Revolving Area (by Netanel Esman)

    2. LBT-RRT (by Shaked Klingbell)

    3. RRT*

    4. Motion planning with targets (by Noam Gutterman)

  2. Adding HGraph meta-class as meta-solver (can combine with any solver)

    1. Currently supporting HGraphs for PRM and RRT

  3. New Solver Viewer features:

    1. Add option to set color for edges of roadmap

    2. Option to choose the robots’ graphs to show

    3. Button to show grid on gui

    4. Presenting the mouse’s coordinates on gui

  4. Changing look and theme of GUI tools

  5. Adding scenarios_runner as a script to run motion planning experiments and compare scenarios

  6. Some API changes in Solver class:

    1. solve() was split into two: exported function that shouldn’t be overridden and an internal function which is the abstract function that solvers should override.

    2. Adding to solve() an optional parameter of scene to enable load+solve.

    3. Adding new function: analyze_solution()

v1.1.1

3 Jun 2024

  1. Improved marking end point of robots, especially when is overlapped with a robot (make sure robots have different colors)

  2. Adding to Solver Viewer a speed slider for adjusting the animation’s speed

  3. Adding solvers: ao-dRRT and dRRT*

  4. Making internal FT class (that inherits from discopygal.bindings.Ker.FT) in

    discopygal consistent so that operations of this class will return an object of FT and not discopygal.bindings.Ker.FT of CGAL.

v1.1.0

21 Apr 2024

  1. Major solver class design changes:

    1. Created to abstract classes: SamplingSolver and TensorSolver

    2. Using inheritance in solver classes

  2. Added Staggered grid solvers

  3. Added new PRM solvers for minimal longest path problem

  4. Merged solvers ExactSingleDisc and ExactSinglePoly into ExactSingle

  5. Solver viewer:

    1. Enable to stop solving process in the middle

    2. Enable to close the program during solving process

    3. Faster cleanup of graph

v1.0.8

16 Mar 2024

  1. Fixing installation issue in MacOS (regarding pyQt)

v1.0.7

13 Feb 2024

  1. Supporting rod robots and Added BasicRodPRM solver

v1.0.6

Internal version

  1. Added ExactSinglePoly solver

v1.0.5

10 Jan 2024

  1. Added bounding box to solver (visualization and configuration)

  2. Fixing leak issues in gui tools

  3. Improving graphs’ appearance and resolution in Solver viewer

v1.0.4

1 Jan 2024

  1. Added padding to result robot paths if not same size

v1.0.3

25 Dec 2023

  1. Bug fixes in tools

  2. Documentation improvements

v1.0.2

Internal version

  1. Update CGAL and CGAL python bindings

  2. Improved installation process - whl file and via pipenv

  3. Added command line arguments to Solver viewer

v1.0.1

Internal version

  1. Basic package code (bindings, gui, solver infrastructure)

  2. Added solvers: PRM, RRT, BiRRT, dRRT, ExactSingleDisc

  3. Added tools: Solver viewer, Scene designer