RRT* - #58

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jens-hj wants to merge 28 commits into

openrr:mainfrom

AU-Master-Thesis:main

Commits on Apr 30, 2024

feat(nix): flake
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1ff930a
feat(rrtstar): rrt* attempt
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80e1f53
fix(rrtstar): only rewire parent if node has a parent
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40e2e01
chore(rrtstar): debug prints
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90aea9f
chore(rrtstar): debug prints
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a21b79c
chore(rrtstar): debug prints
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978a61d
chore(rrtstar): debug prints
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fd58e00
chore(rrtstar): more printing
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b45cbdd
chore(rrtstar): more printing
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ad9fb27
wip, squash me
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5a3b7e9
chore(flake): added flake.lock
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faa6004

Commits on May 1, 2024

refactor(rrtstar): divided rrt and rrtstar into each their own module
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28b24e6
chore(debug): public everything
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db19937
wip
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80087f6
wip
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f5df4a1
wip
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fa15447
wip
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164449b
fix(rrtstar): comparing nearest neighbours with nearest found earlier, instead of the new node. And adds the length from the each node in the neighbourhood to the new node in the cost comparison
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272d569
feat(rrtstar): stop when goal reached flag to force whole tree build
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f60749c
wip
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294a7eb
fix(rrtstar): still adds the goal position as the last part if it gets close enough
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d9eef7c

Commits on May 2, 2024

feat(rrtstar): configurable neighbourhood radius
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9456249

Commits on May 13, 2024

feat(goal): goal index stored on tree
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fc19afa
wip, squash me
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e145ce1

Commits on May 14, 2024

feat(rrtstar): Fn -> FnMut
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9847735
feat(rrtstar): Fn -> FnMut
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f4e9975

Commits on May 20, 2024

fix(rrtstar): returns Error on max iters
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d4384c7

Commits on Jun 1, 2024

feat(rrtstar): rng passable to rrtstar smoothing
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ad5911f