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