Set T3 as default planner

[hubacji1/iamcar.git] / README.md

diff --git a/README.md b/README.md
index d7e86d5ba9fc43680998cfefa4f36ffcddec7be6..a59adb5345c6f456c80df92c89c5ee1acef49df1 100644 (file)
--- a/README.md
+++ b/README.md
@@ -11,6 +11,12 @@ history see [changelog][].
 # Build
 [CMake][] is used for the project build.
 
+## Default planner
+The default planner is `T3`. Only `T3` is compatible with `USE_PTHREAD` macro
+in `base/main.cc` file. When other planner than `T3` is going to be used the
+`USE_PTHREAD` must not be set and `RRTBase` destructor in `base/rrtbase.cc`
+must be uncommented.
+
 ##  Prerequisities
 - `cmake`
 - `libjsoncpp-dev`
@@ -47,7 +53,7 @@ The list of available macros with values:
         - `Karaman2011` - RRT* framework.
         - `T1` - testing planner.
         - `T2` - testing planner based on RRT*.
-        - `T3` - testing planner, update T2 to bidirectional.
+        - `T3` - testing planner, update `T2` to bidirectional.
         - `Klamm2015` - RRT*-Connect planner.
 - `TMAX` - Specify the upper time bound in seconds.