Started to update the CRS planner program. Started a general 3D viewer program (not great..).
Cleaned up the test-planners program. Created a script to run batch tests with test-planners program. There seems to be a small amount of failures (about 3-sigma) on BNB-methods.
Refactored the test-hidim-planners program, and created a batch script.
Modified the hidim-planner test program to be compile-parametrized by dimension.
Minor things.
Added RRT*->SBA* algorithm. Modified the batch-run script a bit.
Trivial changes to CRS-planner.
Started to re-structure the CRS-related planning code.
Trivial things.
Added a backtraced-exception class (for fun). Some bits of work on P3R3R manip IK.
Finished the P3R3R manipulator model, and tested. Started a KTE visitation method, to allow to tack-on a geometric model post-KTE-chain creation.
Started a kte-chain geometry attacher.
Wrote the kte-chain geometry attaching functions. Added a dimension correction to the SBA* algorithm.
Created a program to create the CRS-A465 model files in the new kte-geom class. Tested gaussian correction on the SBA* algorithm.
Created some generic manipulator path-planning traits as meta-factories (and factories) for path-/motion-planning topologies.
Changed a few things in test-hidim-planners. Tested the hidim stuff some more.
Started to work on a KTE-model viewer-editor.
Fixed a few things to get the KTE models loaded into the objtree and into the maps (with names).
Started a View3D menu class.
Got the basic menu up and running, must make use of it and attach slots.