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