Changelog for package mrpt_path_planning_core

2.1.0 (2026-10-27)

• TrajectoryFollower: latency compensation, curvature feedforward, rotate at goal, control_delay, actuation_lag, max_omega and curvature preview.
• TrajectoryFollower: stop (safety_min_speed) instead of crawling toward a predicted contact; MissedGoal when passing the path end or settling off-heading (arrival_ang_tol).
• TrajectoryFollower: ReachedGoal and MissedGoal are terminal until a new trajectory.
• TrajectoryFollower: smooth path curvature and tangent; ignore tiny back-and-forth legs; sweep the body heading on reverse segments.
• TrajectoryFollower: rotate in place at path pivots; updateTrajectory() swaps in a continuing path; external speed cap and predicted contact outputs.
• New CollisionGuard: last-resort velocity filter against sensed obstacles, reporting the max safe speed.
• New DiffDrive_Spin PTG: rotations in place for differential-drive robots, with spin shots in A*.
• New CostEvaluatorTurning and CostEvaluatorReverseMotion; cost evaluators now charge per second of motion.
• TPS_Astar: resumable (anytime) search with reroot(), set_obstacles() and first_colliding_edge().
• TPS_Astar: always explore the straight trajectory; plan from start poses in contact or within the clearance; a start in the goal cell is a solution.
• TPS_Astar: keep tree and search costs consistent in reroot(); conservative start-edge sweep; reject ambiguous robot shapes.
• Reentrant PTGs: independent copies and TrajectoriesAndRobotShape::clone().
• Optional PTG initialization progress callback in TrajectoriesAndRobotShape.
• PTG grid cache: atomic writes, fallback to the working directory.
• Remove NavEngine and its vehicle interfaces.
• Fix compiler warnings, several smaller fixes and new tests.
• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2026-10-01)

• add missing changelogs
• Merge pull request #44 from MRPT/feat/point-goal-shot
• TPS_Astar: commit a pending Reeds-Shepp shot if the search stops before its commit test
• Point-goal shots: other final headings and no shots where the robot cannot fit
• Reeds-Shepp shot to position goals
• Merge pull request #43 from MRPT/docs/readme-agents-md
• README: animated header images of the demo plans
• Refined path outputs show the motion actually executed
• viz_svg: optional animated robot footprint along the path
• Merge pull request #41 from MRPT/feat/mrpt-batched-tp-obstacles-compat
• Mark updateTPObstacles() override with MRPT >= 3.3.2
• Merge pull request #40 from MRPT/feat/fast-collision-query
• Interpolate Reeds-Shepp shot edges and keep exact edges when refining
• Enable the Reeds-Shepp shot by default
• Certified Reeds-Shepp shot to full-pose goals (opt-in)
• Faster batched TP-obstacle query and open set in TPS_Astar
• Merge pull request #39 from MRPT/feat/reeds-shepp-heuristic
• reeds_shepp: portable pi constant; document the radius precondition
• Add an opt-in Reeds-Shepp heuristic for full-pose goals
• Merge pull request #38 from MRPT/ci/clang-format
• Add clang-format CI check and apply clang-format-14 to all sources
• Merge pull request #37 from MRPT/feat/certified-collision-grid
• Address PR review comments: bidir expanded-node count, final-step reach margin, one-edge path check
• Collision grid: O(1) inside-footprint rejection in obstacle queries, faster build
• Certified collision grid, footprint-aware obstacle clipping, consistent tree poses
• Merge pull request #36 from MRPT/feat/mrpt3
• Address PR review comments and finish the getPathStepForDist port
• Port to MRPT 3.x: re-port after the core/apps/viz repo split
• TrajectoryFollower: latch ReachedGoal until a new trajectory is set
• TrajectoryFollower: parameterize the control-pose filter at the vehicle
• TrajectoryFollower: noise-robustness and accuracy hardening
• More info in debug traces
• add debug-level traces
• more stable look ahead, cap max omega
• TrajectoryFollower: evaluate off-path fault on true localized pose
• TrajectoryFollower: run short-term tracking on wheel odometry via a

File truncated at 100 lines see the full file