Created a class to load and translate VRML/X3D/IV files into ReaK geometric models.
Created a command-line tool to convert VRML/IV models to ReaK geometric / proxy models.
Added the edge-properties to SBA* algorithms. Played around with them a bit.
Added more flexible queue-pruning criteria for the SBA* algorithm. Made the test-planners program more flexible.
Restructured the SBA* algorithms. Created the SBA*-RRT* algorithm.
Some refactoring, but mostly trials and errors trying to find something that works well for SBA*-RRT* density metric / criteria.
Fixed a stupid bug with SBA-RRT* algorithm. Played around with various things.
Played around with the density functions. Updated the test-planners program to output more info.
Updated the hidim-planner test program, and restructured the test-planners program too.
Played around with the SBA*, added relaxation, full file output, and played with density metrics.
Played around with the A* objective function, will move to an anytime scheme.
Updated a lot of the pp doxygen commenting.
Created an Anytime SBA* algorithm. Seems good, needs some tweeking for the post-solution iterations.
Created a pretty awesome version of the anytime SBA*, it seems to work everywhere all the time now.
Created a version of SBA*-RRT* that uses Simulated Annealing to switch between high-exploration (RRT*) and high-exploitation ((Anytime-)SBA*).
Refactored some of the SBA* algorithm interfaces, trying to minimize long repetitive functions.
Got rid of the ugly long function prototypes for SBA* algorithms.
Solved a little bug in the SBA* bundle class, ran more tests to compare different planners.
Fixed a value in the CRS-planner.
Started work on a simple AVL tree implementation on the basis of BGL tree concepts.