[ompl-users] ompl 0.9.4 released

[Mark M. <mm...@ri...>]

We are happy to announce a new release of OMPL, version 0.9.4. This release includes the following changes:
	• Renamed StateManifold to StateSpace and ControlManifold to ControlSpace
	• Added RRTstar contribution
	• Added GNAT nearest neighbors datastructure
	• Added representation of a discrete state space (DiscreteStateSpace)
	• Added representation of probability density functions (PDF)
	• Replaced the implementation of BasicPRM with PRM. Thanks to James Marble, the new implementation uses BGL.
	• Moved state propagation functionality from ControlSpace to a separate StatePropagator class
	• Added SimpleSetup-derived classes to the OMPL.app library for several control-based systems: kinematic car, Reeds-Shepp car, Dubins car, dynamic car, blimp, and quadrotor. Made them accessible through the OMPL.app GUI.
	• Added isStraightLinePathValid() to PlannerDefinition
	• Using boost ublas for real vector projections
	• Add sanity checks for state spaces
	• Benchmarked planners are now run in a separate thread (and termination conditions are evaluated separately, to detect crashes)
	• Added getType() for Goal and replaced getType() for planners by getSpecs()
	• Generalized planner termination conditions. The user can now call terminate() at any time to signal a planner it should stop its computation
	• Improvements to control::KPIECE1, so that it considers goal biasing more appropriately
	• Move code for extracting machine properties from util/ to benchmark/
	• Documentation fixes

Point your browser to http://ompl.kavrakilab.org/download.html to download the latest version.

-- 
Mark Moll