v1.15.4

Added

• Configuration parameter _ng_version that defines allowed versions of 'ng_trajectory'.

Changed

• Criterions
  • Profile, Profile2
    • When first time of reference is not zero, use it as lap time.

Fixed

• Criterions
  • Profile, Profile2
    • Do not estimate lap time of the reference when the first time is not zero.
• 'plot'
  • rectanglePlot() now actually displays rectangles.

v1.15.3

Added

• Criterions
  • Profile2
    • Parameters reference_obtain_start and reference_obtain_start_td to prepare the criterion and whole pipeline to generate overtaking maneuvers. Using this generates following parameters that overwrite values in the configuration: v_0, fixed_points and fixed_segments.

Changed

• Selectors
  • Uniform_distance
    • Parameter fixed_points can be now set from selector_args as well.
  • Uniform_time
    • Parameter fixed_points can be now set from selector_args as well.
• Initialization (init()) of all algorithms may now return an optional dictionary. When returned, it is fused together with the configuration of the current cascade step (except penalizers as they are handled by the optimizers).

Fixed

• Criterions
  • Profile2
    • Properly save npy data without raising ragged array 'VisibleDeprecationWarning'.

v1.15.2

Added

• 'ng_generate_data'
  • Another file, 'start_points.csv' is generated. It contains positions of the centerline along with the distances to the walls.

Changed

• Criterions
  • Profile
    • saveState() now also saves backward nad maximum speeds that are computed within the speed profiler.
  • Profile2
    • Remove majority of flake8 warnings.
• 'ng_generate_data'
  • Generated start_points.npy contains additional two columns with distances to the walls.
• 'plot'
  • Support older matplotlib versions in rectanglePlot().

Fixed

• Criterions
  • Profile
    • Properly construct conditional-based dictionary is saveState().
  • Profile2
    • Properly obtain logfile name.
    • Load first four columns of the reference instead of just three.
    • Add missing import of pointToMap().
    • Properly construct conditional-based dictionary is saveState().

v1.15.1

Added

• Optimizers
  • Braghin
    • When logging into a file, display progress bar (similarly to Matryoshka).
• 'ng_generate_data': Argument --scale to change the resolution of the output data.

Changed

• Optimizers
  • Braghin
    • Use sequential executor when number of workers is set to 1.

v1.15.0

Added

• Criterions
  • [NEW] Profile2
    • Modified criterion to create overtaking heat maps.
• Optimizers
  • Matryoshka
    • Parameter 'force_load_matryoshka' to load the saved transformation every time.
• Segmentators
  • Function validChecks to validate multiple map points at once.
• 'plot'
  • Functions imgPlotMetric, circlePlot and rectanglePlot used by profile2.

Changed

• Optimizers
  • Matryoshka
    • When not optimizing, a plot is produced even for unsuccessful attempts.
    • Transformation is loaded when the current one is not usable.

v1.14.0

Added

• Criterions
  • [NEW] Manual
    • Criterion 'manual' requests user to specify fitness value for each candidate.
• Interpolators
  • [NEW] None
    • Dummy interpolator that forwards given points.
• Penalizers
  • [NEW] None
    • Dummy penalizer that allows any candidate.
• Segmentators
  • Function filterPoints to filter points outside of the map.
• 'ng_generate_data': Save image of generated friction map when verbosity is higher.
• 'ng_generate_data': Arguments --prefix and --suffix to change the output files' filenames.

Changed

• Use sequential executor when only one worker is requested.

Fixed

• Criterions
  • Profile
    • Filter out points that are outside of the map when building the friction map.

v1.13.4

Changed

• Interpolators
  • trajectoryClosestIndex() now returns only positive indices.

v1.13.3

Added

• Optimizers
  • Matryoshka
    • Add argument 'allow_no_filter' to 'groupsBorderBeautify()' to use unfitered border data when filtration removes all of them.
    • Add parameter 'border_allow_no_filter' to set 'allow_no_filter' from the configuration.

Changed

• Criterions
  • Profile
    • Reference trajectory can have more fields, but only first three (x, y, k) are used.

Fixed

• Criterions
  • Profile
    • Initial velocity should not be changed when computing the profile in the not closed paths.
• Optimizers
  • Braghin
    • Run the segmentator before creating the transformation.

v1.13.2

Changed

• Selectors
  • Uniform distance
    • trajectoryResample(): Increase the number of points when concatenating parts of the trajectory.

Fixed

• Interpolators
  • Resolve zero divison and index overflow problems in trajectoryClosestIndex().

v1.13.1

Fixed

• Install only pandas<2.1 as newer ones are not compatible with older numpy.