Connect goals to goal

[hubacji1/iamcar.git] / README.md

diff --git a/README.md b/README.md
index a384070c44470dc8afd6da44fd718935ee345be3..67255b3a399c90c56afe5fe54b2c4d88e04c64e8 100644 (file)
--- a/README.md
+++ b/README.md
@@ -12,10 +12,13 @@ history see [changelog][].
 [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. Furthermore, for `T2` commit `360ad9e` must be reverted.
+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`
@@ -56,6 +59,8 @@ The list of available macros with values:
         - `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.