Changelog for package mrpt_path_planning

2.0.0 (2026-10-01)

• add missing changelogs
• Fix: viz.h must stay a properly exported public library, not a private CLI header
• Split into mrpt_path_planning_core / _apps / metapackage; flatten follow/
• Merge pull request #35 from MRPT/feat/reverse-aware-trajectory-follower
• TrajectoryFollower: reverse/gear-aware pursuit + terminal stop-latch
• Merge pull request #34 from MRPT/feat/trajectory-follower
• fix(follow): seed speed ramp from last commanded speed, not odometry
• feat(follow): predictive safety layer for TrajectoryFollower
• build: list library sources explicitly instead of GLOB_RECURSE
• feat(follow): TrajectoryFollower pursuit core + trajectory-serving interface
• feat(costmap): footprint-aware CostEvaluatorCostMap (#33)
• Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

1.0.1 (2026-07-04)

• feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32)
• feat(cli): add --no-gui and SVG motion-tree decimation (#31)
• fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30)
• Contributors: Jose Luis Blanco-Claraco

1.0.0 (2026-06-16)

• feat(TPS_Astar): weighted A* via heuristic_epsilon param (default 1.0 = exact A*); eps in [1.5, 2] cuts median plan time ~4-5x at ~3-8% longer paths
• feat(TPS_Astar): analytic expansion / early termination to goal (#25): accept a direct-to-goal PTG edge as soon as it lands in the goal cell, skipping unnecessary expansions
• feat(TPS_Astar): optional 2D-Dijkstra obstacle-aware heuristic (#24): opt-in use_obstacle_heuristic pre-computes a cost-to-go grid; ~5x fewer expansions on hard BARN worlds
• feat(TPS_Astar): wire stateGoal.vel into goal-cell exit speed (#18)
• feat(viz): SVG exporter for plans (#29): mpp::save_plan_to_svg() — dependency-free 2D vector export of motion tree, solution path, footprint, and start/goal markers; new --save-svg CLI option
• feat(gui): viz now shows selected point coordinates
• perf(TPS_Astar): batch TP-obstacle collision check per node expansion (#26): O(candidates×N) → O(N); ~2-3x faster on hard BARN worlds
• perf(TPS_Astar): defer per-edge path interpolation to the final solution (#27): ~17-21% additional speedup
• perf(TPS_Astar): coarsen default grid_resolution_yaw from 5° to 7.5°; ~23-37% faster with equal or better success rate on BARN/HouseExpo benchmarks
• perf(P3): xy-cell obstacle cache in cached_local_obstacles() (#20): ~6x per-call speedup; cache keyed by (ix,iy) and cleared each plan()
• fix(TPS_Astar): obstacle cache ignored heading, causing collision false negatives (#28): cache now stores heading-independent clipped cloud; heading-dependent transform done per call
• fix: refine_trajectory() distance overshoot
• fix: SVG draw now honors any-heading goals
• fix: restore A* admissibility by converting heuristic cost to seconds (#16)
• fix: store ptgTrimmableSpeed in best-path replacement block (#15)
• fix: replace NodeCoordsHash with boost::hash_combine avalanche pattern to eliminate bucket clustering in large lattices
• fix: bind obs_xs/obs_ys by const ref in transform_pc_square_clipping to avoid O(N) copy (#14)
• fix: remove dead THROW_EXCEPTION branches in edge_interpolated_path (#17)
• test: end-to-end A* tests for C-PTG forward and reverse motion (#23)
• test: add UnreachableGoal, Timeout, MultiPTG, MotionTree, and obstacle-cache unit tests (#22)
• build: bump minimum CMake version to 3.22 (#19)
• ci: install libgtest-dev so GTest suite is actually built and run
• docs: add ROS 2 Lyrical badge, update Rolling to Ubuntu 26.04

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