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.
17 - Include last maneuver to the path optimization.
21 - Operator `==` for RRTNode.
24 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
25 - Test goal first, then random sample.
29 - Invalid memory access.
30 - Missing goals in ut.
35 - Missing source file in cmake config.
40 - Uniform sampling. (Normal sampling is still default.)
41 - Compound extensions 18 - 33.
42 - Path optimization in backward direction.
43 - Goal found check for zone instead of Euclidean distance and max. angle
47 - Reformat lists in readme.
48 - Add `RRTExt3` to compound extensions 18 - 33.
52 - Double value in unsigned int constant.
56 - Collision detection based on [cute c2][].
57 - Time restriction for algorithm.
58 - RRT node types (currently `cusp` and `connected`).
59 - Compound extensions.
60 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
61 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
62 - Compound extensions.
64 - Should continue method.
65 - Deinit method -- get ready for planner reset.
68 - 2D K-d tree extension.
69 - 3D K-d tree extension.
72 - How the algorithm is stopped - possible to choose from more options.
73 - Separate `store_node` procedure.
74 - Grid constants used in `ext4`.
75 - Some small refactoring.
78 - `should_continue` method.
80 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
84 - Bicycle car constructor for RRTNode.
85 - Different costs extension.
88 - Extend next with steering from just added nodes.
93 - Changelog, license, readme.
94 - Doxygen config file.
95 - [WvTest][] unit testing framework.
96 - Basic naive RRT star implementation without obstacles.
97 - Polygon obstacle, collision with obstacles.
98 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
100 [WvTest]: https://github.com/apenwarr/wvtest