Release v1.2.0 #46
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Release v1.2.0 #46
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* wip: extend implementation with first components for constant replanning RRt * wip: extend replanning algorithm to recursively call replanning * enhance: finish up implementation for RRT * enhance: add basic plotting to simulate solution path in environment * enhance: finish up simulation of computed path
* refactor: extract RRT Replanner to separate class * chore: add docstrings * test: run replanning RRT script as part of test suite
…stacles (#38) * wip: initialize benchmarking script * refactor: extract sampling benchmark to separate file * enhance: add RRT and RRT* with replanning to benchmark * chore: set sample numbers for sampling benchmark * benchmark: ensure that start and goal are never blocked to ensure comparability between RRT and TA-PRM * benchmark: prepare benchmarking code to catch replanning issues for RRT * benchmark: catch case of replanning issues with RRT * benchmark: catch case of goal connection issues with RRT * benchmark: change return type approach to exception handling * wip: preparation of helper functions to handle dynamic obstacles only * wip: extract functions for re-use in different benchmarking scripts * chore: extract benchmarking functions to separate helpers file * enhance: add obstacle benchmark * enhance: add logging and aggregation for obstacle benchmarks * fix: move start and goal node collision check to beginning of benchmarking run * benchmarking: catch more failure cases related to RRT * benchmarking: ensure that not finding TA-PRM path does not cause the benchmark to fail * benchmarking: add possibility to specify timeout limit for TA-PRM algorithms * benchmarking: add remaining TODOs * refactor: extract shared printing logic to separate function
* benchmarking: add benchmark with different pruning parameters * enhance: extend loading functionalities to pruning benchmark
… correct results (#43) * fix: ensure that dynamic line collision checking uses subsampling for correct results * chore: extend test suite
…eck with end node
* enhance: add illustration script for benchmark scenario * chore: improve naming of figures * chore: add figure version with legend but no x labels * chore: update figure layout * chore: track previous paths for plotting * chore: commit most current scenario parameters for illustration * chore: udpate seed * chore: remove previous path tracking from replanning implementation
* enhance: add possibility to save and load timed edge from json * feat: implement saving and loading functions for graph structure
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