v3.0.0-alpha.1

RobotPathfinder now has dynamic followers and motion profiles! A normal motion profile or trajectory is generated beforehand, and then followed using a normal follower. During the following process, the motion profile or trajectory is not modified. However, dynamic motion profiles are capable of being re-generated on-the-fly to better match the real-world conditions of the robot for maximum accuracy. Dynamic followers take advantage of this by periodically re-generating their target with a specified delay between re-generations.

Other changes include:

• Fixing of the infamous issue #27 (segmentation faults)
• Complete documentation for every class
• New command line argument for the Trajectory Visualization Tool (--library-path=path/to/lib), which lets you specify the location of the dynamic library
• Various bug fixes

v2.2.0

This new release features the new method TrajectoryGenerator.generateRotationTank, which generates a trajectory that rotates in place for a tank drive robot. The Trajectory Visualization Tool has also been improved; it now uses JSON instead of CSV for saving configuration data. Legacy support for CSV is still kept. Finally, TankDriveTrajectory now has a new method isSmooth, which tells you if the wheels ever reverse direction because of a tight turn in this trajectory.

v2.2.0 some issues with Moment.getFacingAbsolute() and Moment.getFacingRelative() and the trajectory mirroring methods.

v2.1.1

The new v2.1.1 release adds to the v2.1.0 release by introducing the ability to specify a velocity for waypoints. A new class, the WaypointEx, was introduced, which inherits from Waypoint but has a special velocity parameter. If the velocity is specified for a waypoint, the robot's overall velocity must be the same as the specified value at that waypoint. If the velocity cannot be reached, a TrajectoryGenerationException is thrown. This adds flexibility and allows usage cases such as making a trajectory a continuation of another one.

v2.1.0

This fresh new version provides a complete rework of the structure of the library. It fixes all known issues with the previous versions, and has support for negative velocities at tight turns! v1.x versions will no longer be supported. v2.1.0 has undergone throughout, real-life testing and is now production-ready!

v2.1.0 introduces followers, so you no longer have to write them yourself! Just specify the sensors and motors, and run the control loop to see the magic happen. There are now also common interfaces for moments and trajectories, support for facing directions relative to the robot's initial direction, and fixes to various bugs.

As mentioned in the README, RobotPathfinder-2.1.0.jar is the recommended jar for robots because of its relatively small size. However, you must use RobotPathfinder-2.1.0-all.jar if you wish to use the graphing features. Trajectory-Visualizer-2.1.0.jar is the executable jar that contains the Trajectory Visualizer, and RobotPathfinder-Doc-2.1.0.zip contains all the documentation.