4 All notable changes to this project will be documented in this file.
6 The format is based on [Keep a Changelog][] and this project adheres to
7 [Semantic Versioning][].
9 [Keep a Changelog]: http://keepachangelog.com/
10 [Semantic Versioning]: http://semver.org/
18 - Path optimization based on Dijkstra, different interesting points search.
27 - Uniform circle sampling.
28 - Path cost before optimization.
29 - Different `steer` procedures.
31 - Steered1/2 vectors to remember steered nodes.
32 - Tmp steered in `connect` method.
33 - Overloaded next and connect in `rrtext12`.
38 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
39 - Include last maneuver to the path optimization.
40 - Goal zone to consider the range of the heading.
41 - Steer until collide.
52 - Operator `==` for RRTNode.
55 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
56 - Test goal first, then random sample.
60 - Invalid memory access.
61 - Missing goals in ut.
66 - Missing source file in cmake config.
71 - Uniform sampling. (Normal sampling is still default.)
72 - Compound extensions 18 - 33.
73 - Path optimization in backward direction.
74 - Goal found check for zone instead of Euclidean distance and max. angle
78 - Reformat lists in readme.
79 - Add `RRTExt3` to compound extensions 18 - 33.
83 - Double value in unsigned int constant.
87 - Collision detection based on [cute c2][].
88 - Time restriction for algorithm.
89 - RRT node types (currently `cusp` and `connected`).
90 - Compound extensions.
91 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
92 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
93 - Compound extensions.
95 - Should continue method.
96 - Deinit method -- get ready for planner reset.
99 - 2D K-d tree extension.
100 - 3D K-d tree extension.
103 - How the algorithm is stopped - possible to choose from more options.
104 - Separate `store_node` procedure.
105 - Grid constants used in `ext4`.
106 - Some small refactoring.
109 - `should_continue` method.
111 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
113 ## 0.2.0 - 2019-09-26
115 - Bicycle car constructor for RRTNode.
116 - Different costs extension.
119 - Extend next with steering from just added nodes.
122 ## 0.1.0 - 2019-08-05
124 - Changelog, license, readme.
125 - Doxygen config file.
126 - [WvTest][] unit testing framework.
127 - Basic naive RRT star implementation without obstacles.
128 - Polygon obstacle, collision with obstacles.
129 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
131 [WvTest]: https://github.com/apenwarr/wvtest