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

  * add missing changelogs
  * Merge pull request #44 <https://github.com/MRPT/mrpt_path_planning/issues/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 <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
  * viz_svg: optional animated robot footprint along the path
  * Merge pull request #41 <https://github.com/MRPT/mrpt_path_planning/issues/41> from MRPT/feat/mrpt-batched-tp-obstacles-compat
  * Mark updateTPObstacles() override with MRPT >= 3.3.2
  * Merge pull request #40 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/38> from MRPT/ci/clang-format
  * Add clang-format CI check and apply clang-format-14 to all sources
  * Merge pull request #37 <https://github.com/MRPT/mrpt_path_planning/issues/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 <https://github.com/MRPT/mrpt_path_planning/issues/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 slewed anchor
  * TrajectoryFollower: curvature-adaptive lookahead (replaces velocity schedule)
  * TrajectoryFollower: gate goal/arrival on arc-length, not Euclidean distance only
  * TrajectoryFollower: fix backward-propagated gear misclassifying a
  * TrajectoryFollower: support genuine mid-path gear reversals
  * follower: clamp curvature to min_turn_radius, decelerate before cusps too
  * follower: fix short cusped-reverse hang (lookahead across cusp + arrival latch)
  * 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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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-core (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


