This release includes the implementation of the Fully-Connected Informed Tree (FCIT*) planner from https://arxiv.org/pdf/2411.17902.
This is an asymptotically optimal motion planner that provides state-of-the-art performance on the MotionBenchMaker dataset.
There have also been changes to the RNG API to enable better randomization of multiple trials.
What's Changed
- Fix typo bug with vreinterpretq + CI improvements by @wbthomason in #21
- Add support for filtering NDArray pointclouds by @wbthomason in #23
- fix: explicitly use float32 for numpy typing by @zkingston in #27
- feat: RNG is now a planner argument, expose XORShift generation by @zkingston in #29
- Add the FCIT* asymptotically optimal motion planner by @zkingston in #35
Full Changelog: v0.3.0...v0.4.0
Contributors
wbthomason and zkingston