Add firsts, firsts getter

[hubacji1/iamcar.git] / README.md

diff --git a/README.md b/README.md
index d7e86d5ba9fc43680998cfefa4f36ffcddec7be6..67255b3a399c90c56afe5fe54b2c4d88e04c64e8 100644 (file)
--- a/README.md
+++ b/README.md
@@ -11,6 +11,15 @@ history see [changelog][].
 # Build
 [CMake][] is used for the project build.
 
+## Default planner
+The default planner is `T2`.
+
+## `T3` planner
+Only `T3` planner is compatible with `USE_PTHREAD` macro in `base/main.cc`
+file. When `T3` is going to be used the `USE_PTHREAD` must be set and `RRTBase`
+destructor in `base/rrtbase.cc` must be commented. Also, the commit `fd2cd6b`
+must be reverted.
+
 ##  Prerequisities
 - `cmake`
 - `libjsoncpp-dev`
@@ -47,9 +56,11 @@ 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.
+- `USE_GL` - Specify if GL is going to be used to plot the algorithm.
+- `USE_SLOTPLANNER` - Specify if slot planner is going to be used.
 
 Implemented Steering procedures:
 - `st1` - Steer directly to goal, no constraints.