2 All notable changes to this project will be documented in this file.
4 The format is based on [Keep a Changelog][] and this project adheres to
5 [Semantic Versioning][].
7 [Keep a Changelog]: http://keepachangelog.com/
8 [Semantic Versioning]: http://semver.org/
12 - Operator `==` for RRTNode.
15 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
16 - Test goal first, then random sample.
20 - Invalid memory access.
21 - Missing goals in ut.
26 - Missing source file in cmake config.
31 - Uniform sampling. (Normal sampling is still default.)
32 - Compound extensions 18 - 33.
33 - Path optimization in backward direction.
34 - Goal found check for zone instead of Euclidean distance and max. angle
38 - Reformat lists in readme.
39 - Add `RRTExt3` to compound extensions 18 - 33.
43 - Double value in unsigned int constant.
47 - Collision detection based on [cute c2][].
48 - Time restriction for algorithm.
49 - RRT node types (currently `cusp` and `connected`).
50 - Compound extensions.
51 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
52 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
53 - Compound extensions.
55 - Should continue method.
56 - Deinit method -- get ready for planner reset.
59 - 2D K-d tree extension.
60 - 3D K-d tree extension.
63 - How the algorithm is stopped - possible to choose from more options.
64 - Separate `store_node` procedure.
65 - Grid constants used in `ext4`.
66 - Some small refactoring.
69 - `should_continue` method.
71 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
75 - Bicycle car constructor for RRTNode.
76 - Different costs extension.
79 - Extend next with steering from just added nodes.
84 - Changelog, license, readme.
85 - Doxygen config file.
86 - [WvTest][] unit testing framework.
87 - Basic naive RRT star implementation without obstacles.
88 - Polygon obstacle, collision with obstacles.
89 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
91 [WvTest]: https://github.com/apenwarr/wvtest