Release v0.1.1#1
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…ified SE2 bounds, n-dim Python Sphere
…pported installation; add examples installation if BUILD_EXAMPLES is ON; remove leaking of lib/pkgconfig/ from GoogleTest and GoogleBenchmark; drop add_subdirectory(eigen) to stop shipping Eigen as a findable CMake package.
Add GeodesicPathCache for amortized arc-length interpolation in GeodexStateSpace. Auto-detects identity vs non-identity metrics to route between fast path (direct geodesic) and cached discrete geodesic with fallback on convergence failure.
- SDFConformalMetric: exponential conformal scaling via smooth SDF callable - Path smoothing: metric-aware shortcutting + collision-constrained L-BFGS - SE2LeftInvariantMetric::car_like() factory for turning radius control - Updated se2_planning.cpp with full post-planning pipeline and timing - New se2_clearance_planning.cpp with SDF clearance + G-RRT* - 13 new tests for clearance metric, smooth-min SDF, and path smoothing
- OMPL adapter: drop deprecated use_discrete_geodesic_; add InterpolationMode
enum (Auto / BaseGeodesic / RiemannianGeodesic); inline GeodesicPathCache
into geodex_state_space.hpp; delete geodex_path_cache.hpp
- discrete_geodesic: FD midpoint guard with via-log fallback for
spatially-varying metrics (SDFConformalMetric), exposed via
fd_midpoint_guard_tau; fd_midpoint_fallbacks counter in InterpolationResult
- Path smoothing: fix head<2>() SE(2)-hardcoded coord distance; replace
broken Cauchy-Schwarz shortcut criterion with arc-length test; adaptive
upsample (skip when input already >= lbfgs_target_segments)
- minimum_energy_planning: integrate shape-preserving smoothing, raw+smoothed
overlay in Python visualizer, regenerate tutorial figure
- Examples cleanup: delete se2_parking{,_replan}, se2_clearance_planning,
se2_planning, se2_willow_planning, euclidean_planning, cspace_rrt_star,
duplicate planar_manipulator_metric.hpp; scenarios consolidated in
se2_tutorial; add Python-bindings parallel examples/sphere_interpolation.py
- Scripts cleanup: delete animate_parking, preprocess_map, visualize_{rrt,
se2,se2_grid,sphere_interpolation}; add crop_and_preprocess,
draw_se2_diagrams, visualize_se2_tutorial, animate_se2_tutorial
- Collision module: SDF primitives (circle/rect smooth-min), distance grid,
polygon footprint, footprint grid checker with bounding-sphere early-out;
NEON/SSE2 paths and fast_exp
- Python bindings: collision module; new test_collision, test_clearance_metric,
test_path_smoothing
- Benchmarks: new SE2 SDFConformal (midpoint vs via-log) and BatchSteer
suites in bench_algorithms; refreshed README with current numbers
- ROS2 nav2 planner updated for new APIs; tests migrated to InterpolationMode
Three files were stripped from the initial v0.1.0 public release but are referenced by the cherry-picked post-v0.1.0 commits: - examples/sphere_interpolation target — missing add_executable in examples/CMakeLists.txt (install list referenced it). - algorithm/heuristics.hpp — EuclideanHeuristic used by OMPL informed sampler and optimization objective. - umbrella geodex.hpp — missing includes for algorithm/interpolation.hpp and algorithm/heuristics.hpp that master's version re-exports.
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See CHANGELOG.md for the v0.1.1 entry.
Highlights:
discrete_geodesic()Riemannian interpolation on any manifold.SDFConformalMetric+ metric-aware path smoothing.GeodexStateSpace, informed sampler, cached interpolation).Samplerconcept, n-dimensionalSphere, turning-radius SE(2).find_package(geodex)support.Contributors: @mlsdpk, @karyna-volokhatiuk.