[ompl] branch master updated (10110b6 -> 239b2c7)

Leopold Palomo-Avellaneda leo at alaxarxa.net
Wed Mar 15 15:25:42 UTC 2017


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lepalom-guest pushed a change to branch master
in repository ompl.

      from  10110b6   release into unstable
      adds  35ffed5   Imported Upstream version 1.3.0+ds1
       new  a4a0acb   Merge tag 'upstream/1.3.0+ds1'
       new  268285e   Upgrading to the new version of ompl
       new  4ad2d21   Updating patches
       new  a2b43e5   Update copyright. Thx decopy
       new  239b2c7   Drop old file

The 5 revisions listed above as "new" are entirely new to this
repository and will be described in separate emails.  The revisions
listed as "adds" were already present in the repository and have only
been added to this reference.


Summary of changes:
 .clang-format                                      |   49 +
 .gitignore                                         |    4 +-
 .travis.yml                                        |   92 +-
 CMakeLists.txt                                     |   10 +-
 CMakeModules/Findcastxml.cmake                     |    7 +-
 CMakeModules/Findflann.cmake                       |   14 +-
 CMakeModules/OMPLVersion.cmake                     |    6 +-
 CMakeModules/PythonBindingsUtils.cmake             |    2 +-
 debian/control                                     |    4 +-
 debian/copyright                                   |   62 +-
 debian/{libompl12.install => libompl13.install}    |    0
 ...d-functionality-to-findflann-search-macro.patch |   21 -
 debian/patches/series                              |    1 -
 demos/CForestCircleGridBenchmark.cpp               |   29 +-
 demos/CMakeLists.txt                               |    2 +
 demos/Diagonal.cpp                                 |  155 ++
 demos/GeometricCarPlanning.cpp                     |   21 +-
 demos/HybridSystemPlanning.cpp                     |   28 +-
 demos/HypercubeBenchmark.cpp                       |   16 +-
 demos/KinematicChainBenchmark.cpp                  |   50 +-
 demos/Koules/KoulesControlSpace.cpp                |    2 +-
 demos/Koules/KoulesControlSpace.h                  |    4 +-
 demos/Koules/KoulesGoal.h                          |    2 +-
 demos/Koules/KoulesProjection.h                    |    4 +-
 demos/Koules/KoulesSetup.cpp                       |   33 +-
 demos/Koules/KoulesSimulator.h                     |    8 +-
 demos/Koules/KoulesStateSpace.cpp                  |    7 +-
 demos/Koules/KoulesStateSpace.h                    |    2 +-
 demos/LTLWithTriangulation.cpp                     |   55 +-
 demos/OpenDERigidBodyPlanning.cpp                  |   52 +-
 demos/OptimalPlanning.cpp                          |   78 +-
 demos/OptimalPlanning.py                           |   10 +-
 demos/PlannerData.cpp                              |   30 +-
 demos/PlannerProgressProperties.cpp                |    8 +-
 demos/Point2DPlanning.cpp                          |    8 +-
 demos/RigidBodyPlanning.cpp                        |   24 +-
 demos/RigidBodyPlanningWithControls.cpp            |   57 +-
 demos/RigidBodyPlanningWithIK.cpp                  |   24 +-
 ...RigidBodyPlanningWithIntegrationAndControls.cpp |   29 +-
 .../RigidBodyPlanningWithODESolverAndControls.cpp  |   22 +-
 demos/StateSampling.cpp                            |   16 +-
 demos/ThunderLightning.cpp                         |   14 +-
 demos/TriangulationDemo.cpp                        |   24 +-
 demos/VFRRT/VectorFieldConservative.cpp            |   27 +-
 demos/VFRRT/VectorFieldNonconservative.cpp         |   13 +-
 doc/markdown/benchmark.md                          |    7 +-
 doc/markdown/citations.md                          |    2 +-
 doc/markdown/code/mv.cpp                           |    2 +-
 doc/markdown/code/svc.cpp                          |    4 +-
 doc/markdown/developers.md                         |   45 +-
 doc/markdown/installPyPlusPlus.md                  |    2 +-
 doc/markdown/installation.md                       |    1 +
 doc/markdown/optimalPlanning.md                    |   25 +-
 doc/markdown/planners.md                           |   22 +-
 doc/markdown/releaseNotes.md                       |   12 +
 doc/markdown/styleGuide.md                         |   60 +-
 install-ompl-ubuntu.sh                             |   28 +-
 install-ompl-ubuntu.sh.in                          |   24 +-
 py-bindings/bindings_generator.py.in               |    5 +-
 py-bindings/generate_bindings.py                   |   19 +-
 py-bindings/headers_base.txt                       |    1 +
 py-bindings/headers_geometric.txt                  |    8 +-
 py-bindings/ompl/bindings_generator.py             |    5 +-
 py-bindings/ompl_py_base.h                         |    3 +-
 scripts/docker/apt-retry.sh                        |   13 +
 scripts/docker/debian-jessie                       |   20 +
 scripts/docker/ubuntu-xenial                       |   20 +
 src/boost/python/converter/registered.hpp          |  104 -
 .../python/converter/shared_ptr_from_python.hpp    |   63 -
 .../python/converter/shared_ptr_to_python.hpp      |   28 -
 src/boost/python/detail/is_shared_ptr.hpp          |   17 -
 src/boost/python/detail/is_xxx.hpp                 |   13 -
 src/boost/python/detail/value_is_shared_ptr.hpp    |   17 -
 src/boost/python/detail/value_is_xxx.hpp           |   32 -
 src/boost/python/object/inheritance.hpp            |  132 -
 src/boost/python/to_python_indirect.hpp            |  109 -
 src/boost/python/to_python_value.hpp               |  171 --
 src/ompl/base/Cost.h                               |   12 +-
 src/ompl/base/DiscreteMotionValidator.h            |   17 +-
 src/ompl/base/GenericParam.h                       |   81 +-
 src/ompl/base/Goal.h                               |   34 +-
 src/ompl/base/GoalTypes.h                          |   31 +-
 src/ompl/base/MotionValidator.h                    |   26 +-
 src/ompl/base/OptimizationObjective.h              |  124 +-
 src/ompl/base/Path.h                               |   34 +-
 src/ompl/base/Planner.h                            |  163 +-
 src/ompl/base/PlannerData.h                        |  117 +-
 src/ompl/base/PlannerDataGraph.h                   |   37 +-
 src/ompl/base/PlannerDataStorage.h                 |  100 +-
 src/ompl/base/PlannerStatus.h                      |    7 +-
 src/ompl/base/PlannerTerminationCondition.h        |   45 +-
 src/ompl/base/PrecomputedStateSampler.h            |   26 +-
 src/ompl/base/ProblemDefinition.h                  |  124 +-
 src/ompl/base/ProjectionEvaluator.h                |   76 +-
 src/ompl/base/ScopedState.h                        |  151 +-
 src/ompl/base/SolutionNonExistenceProof.h          |   18 +-
 src/ompl/base/SpaceInformation.h                   |  133 +-
 src/ompl/base/State.h                              |   59 +-
 src/ompl/base/StateSampler.h                       |   64 +-
 src/ompl/base/StateSamplerArray.h                  |   49 +-
 src/ompl/base/StateSpace.h                         |  352 +--
 src/ompl/base/StateSpaceTypes.h                    |   43 +-
 src/ompl/base/StateStorage.h                       |   85 +-
 src/ompl/base/StateValidityChecker.h               |   47 +-
 src/ompl/base/TypedSpaceInformation.h              |   33 +-
 src/ompl/base/TypedStateValidityChecker.h          |   18 +-
 src/ompl/base/ValidStateSampler.h                  |   22 +-
 src/ompl/base/goals/GoalLazySamples.h              |   62 +-
 src/ompl/base/goals/GoalRegion.h                   |   15 +-
 src/ompl/base/goals/GoalSampleableRegion.h         |   15 +-
 src/ompl/base/goals/GoalState.h                    |   19 +-
 src/ompl/base/goals/GoalStates.h                   |   20 +-
 src/ompl/base/goals/src/GoalLazySamples.cpp        |   74 +-
 src/ompl/base/goals/src/GoalRegion.cpp             |    3 +-
 src/ompl/base/goals/src/GoalState.cpp              |    4 +-
 src/ompl/base/goals/src/GoalStates.cpp             |   18 +-
 .../objectives/MaximizeMinClearanceObjective.h     |   17 +-
 .../MechanicalWorkOptimizationObjective.h          |   14 +-
 src/ompl/base/objectives/MinimaxObjective.h        |    6 +-
 .../objectives/PathLengthOptimizationObjective.h   |   10 +-
 .../base/objectives/StateCostIntegralObjective.h   |    9 +-
 .../VFMechanicalWorkOptimizationObjective.h        |   18 +-
 .../VFUpstreamCriterionOptimizationObjective.h     |   25 +-
 .../src/MaximizeMinClearanceObjective.cpp          |    5 +-
 .../src/MechanicalWorkOptimizationObjective.cpp    |   11 +-
 src/ompl/base/objectives/src/MinimaxObjective.cpp  |    5 +-
 .../src/PathLengthOptimizationObjective.cpp        |   24 +-
 .../objectives/src/StateCostIntegralObjective.cpp  |   24 +-
 src/ompl/base/samplers/GaussianValidStateSampler.h |   15 +-
 src/ompl/base/samplers/InformedStateSampler.h      |   88 +-
 .../samplers/MaximizeClearanceValidStateSampler.h  |   16 +-
 .../samplers/MinimumClearanceValidStateSampler.h   |   16 +-
 .../base/samplers/ObstacleBasedValidStateSampler.h |   19 +-
 src/ompl/base/samplers/UniformValidStateSampler.h  |   15 +-
 .../base/samplers/informed/OrderedInfSampler.h     |  106 +
 .../samplers/informed/PathLengthDirectInfSampler.h |  111 +-
 .../base/samplers/informed/RejectionInfSampler.h   |   44 +-
 .../samplers/informed/src/OrderedInfSampler.cpp    |  156 ++
 .../informed/src/PathLengthDirectInfSampler.cpp    |  188 +-
 .../samplers/informed/src/RejectionInfSampler.cpp  |   29 +-
 .../samplers/src/GaussianValidStateSampler.cpp     |   16 +-
 .../base/samplers/src/InformedStateSampler.cpp     |   56 +-
 .../src/MaximizeClearanceValidStateSampler.cpp     |   14 +-
 .../src/MinimumClearanceValidStateSampler.cpp      |   16 +-
 .../src/ObstacleBasedValidStateSampler.cpp         |   10 +-
 .../base/samplers/src/UniformValidStateSampler.cpp |    4 +-
 src/ompl/base/spaces/DiscreteStateSpace.h          |   64 +-
 src/ompl/base/spaces/DubinsStateSpace.h            |   49 +-
 src/ompl/base/spaces/RealVectorBounds.h            |    5 +-
 src/ompl/base/spaces/RealVectorStateProjections.h  |   89 +-
 src/ompl/base/spaces/RealVectorStateSpace.h        |   83 +-
 src/ompl/base/spaces/ReedsSheppStateSpace.h        |   52 +-
 src/ompl/base/spaces/SE2StateSpace.h               |   21 +-
 src/ompl/base/spaces/SE3StateSpace.h               |   23 +-
 src/ompl/base/spaces/SO2StateSpace.h               |   52 +-
 src/ompl/base/spaces/SO3StateSpace.h               |   53 +-
 src/ompl/base/spaces/TimeStateSpace.h              |   62 +-
 src/ompl/base/spaces/src/DiscreteStateSpace.cpp    |   33 +-
 src/ompl/base/spaces/src/DubinsStateSpace.cpp      |  113 +-
 src/ompl/base/spaces/src/RealVectorBounds.cpp      |    9 +-
 .../base/spaces/src/RealVectorStateProjections.cpp |   81 +-
 src/ompl/base/spaces/src/RealVectorStateSpace.cpp  |  114 +-
 src/ompl/base/spaces/src/ReedsSheppStateSpace.cpp  |  422 ++--
 src/ompl/base/spaces/src/SE2StateSpace.cpp         |   17 +-
 src/ompl/base/spaces/src/SE3StateSpace.cpp         |   17 +-
 src/ompl/base/spaces/src/SO2StateSpace.cpp         |   40 +-
 src/ompl/base/spaces/src/SO3StateSpace.cpp         |   67 +-
 src/ompl/base/spaces/src/TimeStateSpace.cpp        |   33 +-
 src/ompl/base/src/Cost.cpp                         |    2 +-
 src/ompl/base/src/DiscreteMotionValidator.cpp      |    7 +-
 src/ompl/base/src/GenericParam.cpp                 |   46 +-
 src/ompl/base/src/Goal.cpp                         |    4 +-
 src/ompl/base/src/OptimizationObjective.cpp        |  119 +-
 src/ompl/base/src/Planner.cpp                      |   55 +-
 src/ompl/base/src/PlannerData.cpp                  |  290 ++-
 src/ompl/base/src/PlannerDataStorage.cpp           |   10 +-
 src/ompl/base/src/PlannerStatus.cpp                |   24 +-
 src/ompl/base/src/PlannerTerminationCondition.cpp  |  129 +-
 src/ompl/base/src/PrecomputedStateSampler.cpp      |   15 +-
 src/ompl/base/src/ProblemDefinition.cpp            |   88 +-
 src/ompl/base/src/ProjectionEvaluator.cpp          |   99 +-
 src/ompl/base/src/SpaceInformation.cpp             |  127 +-
 src/ompl/base/src/StateSampler.cpp                 |   11 +-
 src/ompl/base/src/StateSpace.cpp                   |  500 ++--
 src/ompl/base/src/StateStorage.cpp                 |   60 +-
 src/ompl/base/src/ValidStateSampler.cpp            |   19 +-
 src/ompl/control/Control.h                         |   54 +-
 src/ompl/control/ControlSampler.h                  |   39 +-
 src/ompl/control/ControlSpace.h                    |  111 +-
 src/ompl/control/ControlSpaceTypes.h               |   23 +-
 src/ompl/control/DirectedControlSampler.h          |   20 +-
 src/ompl/control/ODESolver.h                       |  148 +-
 src/ompl/control/PathControl.h                     |   81 +-
 src/ompl/control/PlannerData.h                     |   58 +-
 src/ompl/control/PlannerDataStorage.h              |  101 +-
 src/ompl/control/SimpleDirectedControlSampler.h    |   27 +-
 src/ompl/control/SimpleSetup.h                     |   61 +-
 src/ompl/control/SpaceInformation.h                |  113 +-
 src/ompl/control/StatePropagator.h                 |   25 +-
 src/ompl/control/SteeredControlSampler.h           |   16 +-
 src/ompl/control/planners/est/EST.h                |   74 +-
 src/ompl/control/planners/est/src/EST.cpp          |   75 +-
 src/ompl/control/planners/kpiece/KPIECE1.h         |  113 +-
 src/ompl/control/planners/kpiece/src/KPIECE1.cpp   |  108 +-
 src/ompl/control/planners/ltl/Automaton.h          |   38 +-
 src/ompl/control/planners/ltl/LTLPlanner.h         |   61 +-
 .../control/planners/ltl/LTLProblemDefinition.h    |   10 +-
 .../control/planners/ltl/LTLSpaceInformation.h     |   36 +-
 src/ompl/control/planners/ltl/ProductGraph.h       |   95 +-
 .../planners/ltl/PropositionalDecomposition.h      |   24 +-
 src/ompl/control/planners/ltl/World.h              |   16 +-
 src/ompl/control/planners/ltl/src/Automaton.cpp    |  141 +-
 src/ompl/control/planners/ltl/src/LTLPlanner.cpp   |  142 +-
 .../planners/ltl/src/LTLProblemDefinition.cpp      |   36 +-
 .../planners/ltl/src/LTLSpaceInformation.cpp       |  131 +-
 src/ompl/control/planners/ltl/src/ProductGraph.cpp |  152 +-
 .../ltl/src/PropositionalDecomposition.cpp         |   25 +-
 src/ompl/control/planners/ltl/src/World.cpp        |   21 +-
 src/ompl/control/planners/pdst/PDST.h              |  180 +-
 src/ompl/control/planners/pdst/src/PDST.cpp        |  103 +-
 src/ompl/control/planners/rrt/RRT.h                |   68 +-
 src/ompl/control/planners/rrt/src/RRT.cpp          |   73 +-
 src/ompl/control/planners/sst/SST.h                |  109 +-
 src/ompl/control/planners/sst/src/SST.cpp          |  224 +-
 src/ompl/control/planners/syclop/Decomposition.h   |   26 +-
 .../control/planners/syclop/GridDecomposition.h    |   36 +-
 src/ompl/control/planners/syclop/Syclop.h          |  227 +-
 src/ompl/control/planners/syclop/SyclopEST.h       |   16 +-
 src/ompl/control/planners/syclop/SyclopRRT.h       |   37 +-
 .../planners/syclop/src/GridDecomposition.cpp      |  143 +-
 src/ompl/control/planners/syclop/src/Syclop.cpp    |  110 +-
 src/ompl/control/planners/syclop/src/SyclopEST.cpp |   30 +-
 src/ompl/control/planners/syclop/src/SyclopRRT.cpp |   52 +-
 src/ompl/control/spaces/DiscreteControlSpace.h     |   48 +-
 src/ompl/control/spaces/RealVectorControlSpace.h   |   54 +-
 .../control/spaces/src/DiscreteControlSpace.cpp    |   14 +-
 .../control/spaces/src/RealVectorControlSpace.cpp  |   43 +-
 src/ompl/control/src/ControlSampler.cpp            |   26 +-
 src/ompl/control/src/ControlSpace.cpp              |   95 +-
 src/ompl/control/src/PathControl.cpp               |   88 +-
 src/ompl/control/src/PlannerData.cpp               |   41 +-
 src/ompl/control/src/PlannerDataStorage.cpp        |   10 +-
 .../control/src/SimpleDirectedControlSampler.cpp   |   25 +-
 src/ompl/control/src/SimpleSetup.cpp               |   24 +-
 src/ompl/control/src/SpaceInformation.cpp          |   42 +-
 src/ompl/datastructures/BinaryHeap.h               |  100 +-
 src/ompl/datastructures/DynamicSSSP.h              |   75 +-
 src/ompl/datastructures/GreedyKCenters.h           |   32 +-
 src/ompl/datastructures/Grid.h                     |  102 +-
 src/ompl/datastructures/GridB.h                    |  122 +-
 src/ompl/datastructures/GridN.h                    |   81 +-
 src/ompl/datastructures/LPAstarOnGraph.h           |  125 +-
 src/ompl/datastructures/NearestNeighbors.h         |   20 +-
 src/ompl/datastructures/NearestNeighborsFLANN.h    |  126 +-
 src/ompl/datastructures/NearestNeighborsGNAT.h     |  285 ++-
 .../NearestNeighborsGNATNoThreadSafety.h           |  302 +--
 src/ompl/datastructures/NearestNeighborsLinear.h   |   42 +-
 .../datastructures/NearestNeighborsSqrtApprox.h    |   23 +-
 src/ompl/datastructures/PDF.h                      |   54 +-
 src/ompl/datastructures/Permutation.h              |    2 +-
 src/ompl/extensions/morse/MorseControlSpace.h      |    6 +-
 src/ompl/extensions/morse/MorseEnvironment.h       |   50 +-
 src/ompl/extensions/morse/MorseGoal.h              |    7 +-
 src/ompl/extensions/morse/MorseProjection.h        |    1 -
 src/ompl/extensions/morse/MorseSimpleSetup.h       |   12 +-
 src/ompl/extensions/morse/MorseStatePropagator.h   |   10 +-
 src/ompl/extensions/morse/MorseStateSpace.h        |   25 +-
 .../extensions/morse/MorseStateValidityChecker.h   |    3 -
 .../extensions/morse/MorseTerminationCondition.h   |    6 +-
 .../extensions/morse/src/MorseControlSpace.cpp     |    8 +-
 src/ompl/extensions/morse/src/MorseEnvironment.cpp |    7 +-
 src/ompl/extensions/morse/src/MorseGoal.cpp        |    1 -
 src/ompl/extensions/morse/src/MorseProjection.cpp  |   11 +-
 src/ompl/extensions/morse/src/MorseSimpleSetup.cpp |   24 +-
 .../extensions/morse/src/MorseStatePropagator.cpp  |    5 +-
 src/ompl/extensions/morse/src/MorseStateSpace.cpp  |   46 +-
 .../morse/src/MorseStateValidityChecker.cpp        |    5 +-
 src/ompl/extensions/opende/OpenDEControlSpace.h    |   12 +-
 src/ompl/extensions/opende/OpenDEEnvironment.h     |   41 +-
 src/ompl/extensions/opende/OpenDESimpleSetup.h     |   29 +-
 src/ompl/extensions/opende/OpenDEStatePropagator.h |   17 +-
 src/ompl/extensions/opende/OpenDEStateSpace.h      |   92 +-
 .../extensions/opende/OpenDEStateValidityChecker.h |    5 +-
 .../extensions/opende/src/OpenDEControlSpace.cpp   |    8 +-
 .../extensions/opende/src/OpenDEEnvironment.cpp    |    5 +-
 .../extensions/opende/src/OpenDESimpleSetup.cpp    |   34 +-
 .../opende/src/OpenDEStatePropagator.cpp           |   26 +-
 .../extensions/opende/src/OpenDEStateSpace.cpp     |  131 +-
 .../opende/src/OpenDEStateValidityChecker.cpp      |    5 +-
 .../PropositionalTriangularDecomposition.h         |   34 +-
 .../extensions/triangle/TriangularDecomposition.h  |   83 +-
 .../src/PropositionalTriangularDecomposition.cpp   |   76 +-
 .../triangle/src/TriangularDecomposition.cpp       |  229 +-
 src/ompl/geometric/GeneticSearch.h                 |   55 +-
 src/ompl/geometric/HillClimbing.h                  |   24 +-
 src/ompl/geometric/PathGeometric.h                 |   65 +-
 src/ompl/geometric/PathHybridization.h             |   54 +-
 src/ompl/geometric/PathSimplifier.h                |   49 +-
 src/ompl/geometric/SimpleSetup.h                   |   72 +-
 .../geometric/planners/AnytimePathShortening.cpp   |  117 +-
 .../geometric/planners/AnytimePathShortening.h     |   26 +-
 src/ompl/geometric/planners/bitstar/BITstar.h      |  673 ++---
 .../planners/bitstar/datastructures/CostHelper.h   |  292 +++
 .../planners/bitstar/datastructures/IdGenerator.h  |   42 +-
 .../bitstar/datastructures/ImplicitGraph.h         |  439 ++++
 .../bitstar/datastructures/IntegratedQueue.h       |  439 ----
 .../planners/bitstar/datastructures/SearchQueue.h  |  478 ++++
 .../planners/bitstar/datastructures/Vertex.h       |  128 +-
 .../bitstar/datastructures/src/CostHelper.cpp      |   99 +
 .../bitstar/datastructures/src/ImplicitGraph.cpp   | 1560 ++++++++++++
 .../bitstar/datastructures/src/IntegratedQueue.cpp | 1687 -------------
 .../bitstar/datastructures/src/SearchQueue.cpp     | 1727 +++++++++++++
 .../planners/bitstar/datastructures/src/Vertex.cpp |  323 ++-
 .../geometric/planners/bitstar/src/BITstar.cpp     | 2649 ++++++--------------
 src/ompl/geometric/planners/cforest/CForest.h      |   59 +-
 .../planners/cforest/CForestStateSampler.h         |   20 +-
 .../planners/cforest/CForestStateSpaceWrapper.h    |   86 +-
 .../geometric/planners/cforest/src/CForest.cpp     |  109 +-
 .../planners/cforest/src/CForestStateSampler.cpp   |   12 +-
 .../cforest/src/CForestStateSpaceWrapper.cpp       |    4 +-
 src/ompl/geometric/planners/est/BiEST.h            |   64 +-
 src/ompl/geometric/planners/est/EST.h              |   56 +-
 src/ompl/geometric/planners/est/ProjEST.h          |   64 +-
 src/ompl/geometric/planners/est/src/BiEST.cpp      |  117 +-
 src/ompl/geometric/planners/est/src/EST.cpp        |   69 +-
 src/ompl/geometric/planners/est/src/ProjEST.cpp    |   58 +-
 .../planners/experience/LightningRetrieveRepair.h  |   50 +-
 .../planners/experience/ThunderRetrieveRepair.h    |   64 +-
 .../experience/src/LightningRetrieveRepair.cpp     |  185 +-
 .../experience/src/ThunderRetrieveRepair.cpp       |  642 ++---
 src/ompl/geometric/planners/fmt/BFMT.h             |  301 ++-
 src/ompl/geometric/planners/fmt/FMT.h              |  345 +--
 src/ompl/geometric/planners/fmt/src/BFMT.cpp       | 1497 +++++------
 src/ompl/geometric/planners/fmt/src/FMT.cpp        |  234 +-
 src/ompl/geometric/planners/kpiece/BKPIECE1.h      |   47 +-
 .../geometric/planners/kpiece/Discretization.h     |   79 +-
 src/ompl/geometric/planners/kpiece/KPIECE1.h       |   48 +-
 src/ompl/geometric/planners/kpiece/LBKPIECE1.h     |   56 +-
 .../geometric/planners/kpiece/src/BKPIECE1.cpp     |   88 +-
 src/ompl/geometric/planners/kpiece/src/KPIECE1.cpp |   62 +-
 .../geometric/planners/kpiece/src/LBKPIECE1.cpp    |   96 +-
 src/ompl/geometric/planners/pdst/PDST.h            |  152 +-
 src/ompl/geometric/planners/pdst/src/PDST.cpp      |   58 +-
 .../geometric/planners/prm/ConnectionStrategy.h    |   63 +-
 src/ompl/geometric/planners/prm/LazyPRM.h          |  121 +-
 src/ompl/geometric/planners/prm/LazyPRMstar.h      |    3 -
 src/ompl/geometric/planners/prm/PRM.h              |  145 +-
 src/ompl/geometric/planners/prm/PRMstar.h          |    3 -
 src/ompl/geometric/planners/prm/SPARS.h            |  230 +-
 src/ompl/geometric/planners/prm/SPARStwo.h         |  215 +-
 .../geometric/planners/prm/src/GoalVisitor.hpp     |    8 +-
 src/ompl/geometric/planners/prm/src/LazyPRM.cpp    |  168 +-
 src/ompl/geometric/planners/prm/src/PRM.cpp        |  183 +-
 src/ompl/geometric/planners/prm/src/SPARS.cpp      |  541 ++--
 src/ompl/geometric/planners/prm/src/SPARStwo.cpp   |  404 +--
 src/ompl/geometric/planners/rrt/BiTRRT.h           |   89 +-
 src/ompl/geometric/planners/rrt/InformedRRTstar.h  |   15 +-
 src/ompl/geometric/planners/rrt/LBTRRT.h           |   92 +-
 src/ompl/geometric/planners/rrt/LazyLBTRRT.h       |  149 +-
 src/ompl/geometric/planners/rrt/LazyRRT.h          |   63 +-
 src/ompl/geometric/planners/rrt/RRT.h              |   53 +-
 src/ompl/geometric/planners/rrt/RRTConnect.h       |   77 +-
 src/ompl/geometric/planners/rrt/RRTXstatic.h       |  489 ++++
 .../planners/{prm/LazyPRMstar.h => rrt/RRTsharp.h} |   55 +-
 src/ompl/geometric/planners/rrt/RRTstar.h          |  191 +-
 .../rrt/{src/InformedRRTstar.cpp => SORRTstar.h}   |   46 +-
 src/ompl/geometric/planners/rrt/TRRT.h             |  105 +-
 src/ompl/geometric/planners/rrt/VFRRT.h            |   29 +-
 src/ompl/geometric/planners/rrt/pRRT.h             |   59 +-
 src/ompl/geometric/planners/rrt/src/BiTRRT.cpp     |  166 +-
 .../geometric/planners/rrt/src/InformedRRTstar.cpp |   13 +-
 src/ompl/geometric/planners/rrt/src/LBTRRT.cpp     |  119 +-
 src/ompl/geometric/planners/rrt/src/LazyLBTRRT.cpp |  164 +-
 src/ompl/geometric/planners/rrt/src/LazyRRT.cpp    |   63 +-
 src/ompl/geometric/planners/rrt/src/RRT.cpp        |   51 +-
 src/ompl/geometric/planners/rrt/src/RRTConnect.cpp |  104 +-
 src/ompl/geometric/planners/rrt/src/RRTXstatic.cpp |  806 ++++++
 .../planners/rrt/src/RRTsharp.cpp}                 |   13 +-
 src/ompl/geometric/planners/rrt/src/RRTstar.cpp    |  424 ++--
 .../ompl/geometric/planners/rrt/src/SORRTstar.cpp  |   32 +-
 src/ompl/geometric/planners/rrt/src/TRRT.cpp       |  106 +-
 src/ompl/geometric/planners/rrt/src/VFRRT.cpp      |   66 +-
 src/ompl/geometric/planners/rrt/src/pRRT.cpp       |   67 +-
 src/ompl/geometric/planners/sbl/SBL.h              |   69 +-
 src/ompl/geometric/planners/sbl/pSBL.h             |   97 +-
 src/ompl/geometric/planners/sbl/src/SBL.cpp        |  123 +-
 src/ompl/geometric/planners/sbl/src/pSBL.cpp       |  154 +-
 src/ompl/geometric/planners/sst/SST.h              |   90 +-
 src/ompl/geometric/planners/sst/src/SST.cpp        |  189 +-
 src/ompl/geometric/planners/stride/STRIDE.h        |  485 ++--
 src/ompl/geometric/planners/stride/src/STRIDE.cpp  |   96 +-
 src/ompl/geometric/src/GeneticSearch.cpp           |   87 +-
 src/ompl/geometric/src/HillClimbing.cpp            |   32 +-
 src/ompl/geometric/src/PathGeometric.cpp           |  129 +-
 src/ompl/geometric/src/PathHybridization.cpp       |  108 +-
 src/ompl/geometric/src/PathSimplifier.cpp          |  213 +-
 src/ompl/geometric/src/SimpleSetup.cpp             |   51 +-
 src/ompl/tools/benchmark/Benchmark.h               |  147 +-
 src/ompl/tools/benchmark/MachineSpecs.h            |    5 +-
 src/ompl/tools/benchmark/src/Benchmark.cpp         |  249 +-
 src/ompl/tools/benchmark/src/MachineSpecs.cpp      |   94 +-
 src/ompl/tools/config/MagicConstants.h             |    3 -
 src/ompl/tools/config/SelfConfig.h                 |   21 +-
 src/ompl/tools/config/src/SelfConfig.cpp           |   51 +-
 src/ompl/tools/debug/PlannerMonitor.h              |   19 +-
 src/ompl/tools/debug/Profiler.h                    |   95 +-
 src/ompl/tools/debug/src/PlannerMonitor.cpp        |   12 +-
 src/ompl/tools/debug/src/Profiler.cpp              |   47 +-
 src/ompl/tools/experience/ExperienceSetup.h        |   58 +-
 src/ompl/tools/experience/src/ExperienceSetup.cpp  |   65 +-
 src/ompl/tools/lightning/DynamicTimeWarp.h         |   94 +-
 src/ompl/tools/lightning/Lightning.h               |   65 +-
 src/ompl/tools/lightning/LightningDB.h             |   18 +-
 src/ompl/tools/lightning/src/DynamicTimeWarp.cpp   |   19 +-
 src/ompl/tools/lightning/src/Lightning.cpp         |   90 +-
 src/ompl/tools/lightning/src/LightningDB.cpp       |   46 +-
 src/ompl/tools/multiplan/OptimizePlan.h            |   16 +-
 src/ompl/tools/multiplan/ParallelPlan.h            |   75 +-
 src/ompl/tools/multiplan/src/OptimizePlan.cpp      |    4 +-
 src/ompl/tools/multiplan/src/ParallelPlan.cpp      |   67 +-
 src/ompl/tools/thunder/SPARSdb.h                   |  296 ++-
 src/ompl/tools/thunder/Thunder.h                   |   77 +-
 src/ompl/tools/thunder/ThunderDB.h                 |   33 +-
 src/ompl/tools/thunder/src/SPARSdb.cpp             |  626 ++---
 src/ompl/tools/thunder/src/Thunder.cpp             |  123 +-
 src/ompl/tools/thunder/src/ThunderDB.cpp           |   52 +-
 src/ompl/util/ClassForward.h                       |    4 +-
 src/ompl/util/Console.h                            |   46 +-
 src/ompl/util/Deprecation.h                        |    2 +-
 src/ompl/util/Exception.h                          |   13 +-
 src/ompl/util/GeometricEquations.h                 |    5 +-
 src/ompl/util/Hash.h                               |   12 +-
 src/ompl/util/PPM.h                                |   11 +-
 src/ompl/util/ProlateHyperspheroid.h               |   22 +-
 src/ompl/util/RandomNumbers.h                      |   45 +-
 src/ompl/util/Time.h                               |   13 +-
 src/ompl/util/src/Console.cpp                      |   35 +-
 src/ompl/util/src/GeometricEquations.cpp           |   13 +-
 src/ompl/util/src/PPM.cpp                          |   26 +-
 src/ompl/util/src/ProlateHyperspheroid.cpp         |   67 +-
 src/ompl/util/src/RandomNumbers.cpp                |  107 +-
 tests/CMakeLists.txt                               |   23 +-
 tests/base/PlannerTest.h                           |    6 +-
 tests/base/StateSpaceTest.h                        |   10 +-
 tests/base/planner_data.cpp                        |   60 +-
 tests/base/state_operations.cpp                    |   70 +-
 tests/base/state_spaces.cpp                        |   56 +-
 tests/base/state_storage.cpp                       |   10 +-
 tests/control/2dmap/2dmap.cpp                      |  115 +-
 tests/control/planner_data.cpp                     |   30 +-
 tests/datastructures/grid.cpp                      |   32 +-
 tests/datastructures/gridb.cpp                     |   18 +-
 tests/datastructures/nearestneighbors.cpp          |   28 +-
 tests/datastructures/pdf.cpp                       |   20 +-
 tests/extensions/morse/morse_plan.cpp              |    8 +-
 tests/geometric/2d/2DcirclesSetup.h                |    8 +-
 tests/geometric/2d/2DmapSetup.h                    |   31 +-
 tests/geometric/2d/2DmapSetup1.h                   |   13 +-
 tests/geometric/2d/2dcircles_optimize.cpp          |   48 +-
 tests/geometric/2d/2denvs.cpp                      |  257 +-
 tests/geometric/2d/2dmap_simple.cpp                |   14 +-
 tests/regression_tests/RegressionTest.cpp          |    2 +-
 .../RegressionTestCirclesProblem.inl.h             |   41 +-
 tests/resources/circles2D.h                        |    6 +-
 tests/resources/environment2D.h                    |    2 +-
 tests/util/random/random.cpp                       |    6 +-
 466 files changed, 22734 insertions(+), 19954 deletions(-)
 create mode 100644 .clang-format
 rename debian/{libompl12.install => libompl13.install} (100%)
 delete mode 100644 debian/patches/0001-Add-functionality-to-findflann-search-macro.patch
 create mode 100644 demos/Diagonal.cpp
 create mode 100755 scripts/docker/apt-retry.sh
 create mode 100644 scripts/docker/debian-jessie
 create mode 100644 scripts/docker/ubuntu-xenial
 delete mode 100644 src/boost/python/converter/registered.hpp
 delete mode 100644 src/boost/python/converter/shared_ptr_from_python.hpp
 delete mode 100644 src/boost/python/converter/shared_ptr_to_python.hpp
 delete mode 100755 src/boost/python/detail/is_shared_ptr.hpp
 delete mode 100644 src/boost/python/detail/is_xxx.hpp
 delete mode 100644 src/boost/python/detail/value_is_shared_ptr.hpp
 delete mode 100644 src/boost/python/detail/value_is_xxx.hpp
 delete mode 100644 src/boost/python/object/inheritance.hpp
 delete mode 100644 src/boost/python/to_python_indirect.hpp
 delete mode 100644 src/boost/python/to_python_value.hpp
 create mode 100644 src/ompl/base/samplers/informed/OrderedInfSampler.h
 create mode 100644 src/ompl/base/samplers/informed/src/OrderedInfSampler.cpp
 create mode 100644 src/ompl/geometric/planners/bitstar/datastructures/CostHelper.h
 create mode 100644 src/ompl/geometric/planners/bitstar/datastructures/ImplicitGraph.h
 delete mode 100644 src/ompl/geometric/planners/bitstar/datastructures/IntegratedQueue.h
 create mode 100644 src/ompl/geometric/planners/bitstar/datastructures/SearchQueue.h
 create mode 100644 src/ompl/geometric/planners/bitstar/datastructures/src/CostHelper.cpp
 create mode 100644 src/ompl/geometric/planners/bitstar/datastructures/src/ImplicitGraph.cpp
 delete mode 100644 src/ompl/geometric/planners/bitstar/datastructures/src/IntegratedQueue.cpp
 create mode 100644 src/ompl/geometric/planners/bitstar/datastructures/src/SearchQueue.cpp
 mode change 100755 => 100644 src/ompl/geometric/planners/pdst/PDST.h
 mode change 100755 => 100644 src/ompl/geometric/planners/pdst/src/PDST.cpp
 mode change 100755 => 100644 src/ompl/geometric/planners/rrt/LBTRRT.h
 create mode 100644 src/ompl/geometric/planners/rrt/RRTXstatic.h
 copy src/ompl/geometric/planners/{prm/LazyPRMstar.h => rrt/RRTsharp.h} (50%)
 copy src/ompl/geometric/planners/rrt/{src/InformedRRTstar.cpp => SORRTstar.h} (70%)
 mode change 100755 => 100644 src/ompl/geometric/planners/rrt/src/LBTRRT.cpp
 create mode 100644 src/ompl/geometric/planners/rrt/src/RRTXstatic.cpp
 copy src/ompl/{extensions/morse/src/MorseTerminationCondition.cpp => geometric/planners/rrt/src/RRTsharp.cpp} (84%)
 copy py-bindings/ompl_py_control.h => src/ompl/geometric/planners/rrt/src/SORRTstar.cpp (76%)

-- 
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