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.
16 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
20 - Operator `==` for RRTNode.
23 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
24 - Test goal first, then random sample.
28 - Invalid memory access.
29 - Missing goals in ut.
34 - Missing source file in cmake config.
39 - Uniform sampling. (Normal sampling is still default.)
40 - Compound extensions 18 - 33.
41 - Path optimization in backward direction.
42 - Goal found check for zone instead of Euclidean distance and max. angle
46 - Reformat lists in readme.
47 - Add `RRTExt3` to compound extensions 18 - 33.
51 - Double value in unsigned int constant.
55 - Collision detection based on [cute c2][].
56 - Time restriction for algorithm.
57 - RRT node types (currently `cusp` and `connected`).
58 - Compound extensions.
59 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
60 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
61 - Compound extensions.
63 - Should continue method.
64 - Deinit method -- get ready for planner reset.
67 - 2D K-d tree extension.
68 - 3D K-d tree extension.
71 - How the algorithm is stopped - possible to choose from more options.
72 - Separate `store_node` procedure.
73 - Grid constants used in `ext4`.
74 - Some small refactoring.
77 - `should_continue` method.
79 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
83 - Bicycle car constructor for RRTNode.
84 - Different costs extension.
87 - Extend next with steering from just added nodes.
92 - Changelog, license, readme.
93 - Doxygen config file.
94 - [WvTest][] unit testing framework.
95 - Basic naive RRT star implementation without obstacles.
96 - Polygon obstacle, collision with obstacles.
97 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
99 [WvTest]: https://github.com/apenwarr/wvtest