ros-rolling-mrpt-path-planning-apps (2.0.0-1resolute) resolute; urgency=high

  * add missing changelogs
  * Merge pull request #43 <https://github.com/MRPT/mrpt_path_planning/issues/43> from MRPT/docs/readme-agents-md
  * README: animated header images of the demo plans
  * Refined path outputs show the motion actually executed
  * Ackermann demo: use mpp::ptg::DiffDrive_C; README features and publications
  * viz_svg: optional animated robot footprint along the path
  * Merge pull request #36 <https://github.com/MRPT/mrpt_path_planning/issues/36> from MRPT/feat/mrpt3
  * Port to MRPT 3.x: re-port after the core/apps/viz repo split
  * viz_nav_plan: reuse a single non-modal window, allow custom titles
  * 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/
  * Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 30 Sep 2026 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (1.0.1-1resolute) resolute; urgency=high

  * feat: bidirectional TP-Space A* solver (TPS_Astar_Bidir) (#32 <https://github.com/MRPT/mrpt_path_planning/issues/32>)
  * feat(cli): add --no-gui and SVG motion-tree decimation (#31 <https://github.com/MRPT/mrpt_path_planning/issues/31>)
  * fix(TPS_Astar): defer analytic goal expansion to avoid suboptimal goal loops (#30 <https://github.com/MRPT/mrpt_path_planning/issues/30>)
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 03 Jul 2026 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (1.0.0-1resolute) resolute; urgency=high

  * 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 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/18>)
  * feat(viz): SVG exporter for plans (#29 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/16>)
  * fix: store ``ptgTrimmableSpeed`` in best-path replacement block (#15 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/14>)
  * fix: remove dead ``THROW_EXCEPTION`` branches in ``edge_interpolated_path`` (#17 <https://github.com/MRPT/mrpt_path_planning/issues/17>)
  * test: end-to-end A* tests for C-PTG forward and reverse motion (#23 <https://github.com/MRPT/mrpt_path_planning/issues/23>)
  * test: add UnreachableGoal, Timeout, MultiPTG, MotionTree, and obstacle-cache unit tests (#22 <https://github.com/MRPT/mrpt_path_planning/issues/22>)
  * build: bump minimum CMake version to 3.22 (#19 <https://github.com/MRPT/mrpt_path_planning/issues/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 (Resolute)
  * Contributors: Jose Luis Blanco-Claraco, SRai22

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 15 Jun 2026 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.3.0-1resolute) resolute; urgency=high

  * copyright year bump
  * Integrate vscode config to build with colcon
  * Add basic unit tests
  * add params for ackermann
  * Fix potential wrong lattice coordinates due to bad rounding
  * Fix: use smooth quadratic cost
  * Fix potential phi angle comparison wraps
  * Docs: explain optimality criterion
  * tune params and add more examples in readme
  * fix potential non-optimal path search
  * fix build against modern mvsim
  * Add ARQUITECTURE.md
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 01 Apr 2026 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.2.5-1resolute) resolute; urgency=high

  * fix build against newer mvsim API
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 20 Jan 2026 23:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.2.4-1resolute) resolute; urgency=high

  * Fix build for mrpt >=2.15.3
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 18 Dec 2025 23:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.2.3-1resolute) resolute; urgency=high

  * Fix usage of new mrpt 2.15.0 API
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 09 Nov 2025 23:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.2.2-1resolute) resolute; urgency=high

  * README: update badges for active ROS distributions
  * modernize C++, add [[nodiscard]]
  * Update README.md ROS badges
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 21 Jul 2025 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.2.1-1resolute) resolute; urgency=high

  * costmaps for rviz API
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 13 Oct 2024 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.2.0-1resolute) resolute; urgency=high

  * Add support for new PTGs with internalState in MRPT >=2.14.2
  * viz animations: draw vehicle frame for visual reference
  * interpolate(): fix accumulated error along trajectories
  * cli and viz: interpolate trajectory
  * cli: add flags to control obstacles bbox and clipping
  * ObstacleSource virtual API: implement clipping of obstacle sources
  * A* grid reimplemented as unordered_map for maximum efficiency
  * smoother obstacle cost function
  * Add more profiler and debug traces
  * remove -Wabi warnings
  * viz: start with camera pointing to the path origin
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Fri, 04 Oct 2024 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.1.5-1resolute) resolute; urgency=high

  * Update RTTI macros for upcoming MRPT 2.14.0
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Sun, 15 Sep 2024 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.1.4-1resolute) resolute; urgency=high

  * Depend on new mrpt_lib packages (deprecate mrpt2)
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 28 Aug 2024 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.1.3-1resolute) resolute; urgency=high

  * Update badges for ROS2 distros
  * bump minimum cmake version to 3.5
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Thu, 23 May 2024 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.1.2-1resolute) resolute; urgency=high

  * Fix usage of (new explicit) TPoint3D constructors
  * Update build instructions
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Wed, 24 Apr 2024 22:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.1.1-1resolute) resolute; urgency=high

  * Fix usage of obsolete mrpt methods
  * update ros badges
  * Contributors: Jose Luis Blanco-Claraco

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Mon, 18 Mar 2024 23:00:00 -0000

ros-rolling-mrpt-path-planning-apps (0.1.0-1resolute) resolute; urgency=high

  * First release since initial development in May 2019.
  * Contributors: Jose Luis Blanco-Claraco, Shravan S Rai

 -- "Jose-Luis Blanco-Claraco" <joseluisblancoc@gmail.com>  Tue, 13 Jun 2023 22:00:00 -0000


