35 lines
1.8 KiB
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35 lines
1.8 KiB
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package mpc_local_planner
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.0.3 (2020-06-09)
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* Added feasibility check with costmap robot model
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* Changed obstacle parameters `cutoff_factor` and `force_inclusion_factor` to `cutoff_dist` and `force_inclusion_dist`
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* Added check for obstacle pointer validity in StageInequalitySE2
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* Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
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* Added hybrid cost (time and control effort)
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* Added kinematic bicycle model with velocity input
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* Grid: The time difference is now initialized to dt_ref for reference trajectory caching
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* Fixed wrong start orientation in point-to-point grid initialization
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* Fixed wrong angular computation in midpoint differences
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* Added missing install files (thanks to marbosjo)
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* Changed minimum CMake version to 3.1
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* Contributors: Christoph Rösmann, marbosjo
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0.0.2 (2020-03-12)
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* Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to `costmap_2d` (thanks to Alexander Xydes).
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Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
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* Fixed issues in fd discretization grid and graph consistency
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* Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
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* Fixed wrong parameter namespaces for some grid parameters
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* Replaced non-ASCII characters in python script
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* Added find_package script for osqp in case control_box_rst is linked against it
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* Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler
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0.0.1 (2020-02-20)
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* First release
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* Contributors: Christoph Rösmann
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