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 - Uniform circle sampling.
13 - Path cost before optimization.
14 - Different `steer` procedures.
18 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
19 - Include last maneuver to the path optimization.
20 - Goal zone to consider the range of the heading.
24 - Operator `==` for RRTNode.
27 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
28 - Test goal first, then random sample.
32 - Invalid memory access.
33 - Missing goals in ut.
38 - Missing source file in cmake config.
43 - Uniform sampling. (Normal sampling is still default.)
44 - Compound extensions 18 - 33.
45 - Path optimization in backward direction.
46 - Goal found check for zone instead of Euclidean distance and max. angle
50 - Reformat lists in readme.
51 - Add `RRTExt3` to compound extensions 18 - 33.
55 - Double value in unsigned int constant.
59 - Collision detection based on [cute c2][].
60 - Time restriction for algorithm.
61 - RRT node types (currently `cusp` and `connected`).
62 - Compound extensions.
63 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
64 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
65 - Compound extensions.
67 - Should continue method.
68 - Deinit method -- get ready for planner reset.
71 - 2D K-d tree extension.
72 - 3D K-d tree extension.
75 - How the algorithm is stopped - possible to choose from more options.
76 - Separate `store_node` procedure.
77 - Grid constants used in `ext4`.
78 - Some small refactoring.
81 - `should_continue` method.
83 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
87 - Bicycle car constructor for RRTNode.
88 - Different costs extension.
91 - Extend next with steering from just added nodes.
96 - Changelog, license, readme.
97 - Doxygen config file.
98 - [WvTest][] unit testing framework.
99 - Basic naive RRT star implementation without obstacles.
100 - Polygon obstacle, collision with obstacles.
101 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
103 [WvTest]: https://github.com/apenwarr/wvtest