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/
13 - Uniform sampling. (Normal sampling is still default.)
14 - Compound extensions 18 - 33.
17 - Reformat lists in readme.
18 - Add `RRTExt3` to compound extensions 18 - 33.
22 - Double value in unsigned int constant.
26 - Collision detection based on [cute c2][].
27 - Time restriction for algorithm.
28 - RRT node types (currently `cusp` and `connected`).
29 - Compound extensions.
30 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
31 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
32 - Compound extensions.
34 - Should continue method.
35 - Deinit method -- get ready for planner reset.
38 - 2D K-d tree extension.
39 - 3D K-d tree extension.
42 - How the algorithm is stopped - possible to choose from more options.
43 - Separate `store_node` procedure.
44 - Grid constants used in `ext4`.
45 - Some small refactoring.
48 - `should_continue` method.
50 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
54 - Bicycle car constructor for RRTNode.
55 - Different costs extension.
58 - Extend next with steering from just added nodes.
63 - Changelog, license, readme.
64 - Doxygen config file.
65 - [WvTest][] unit testing framework.
66 - Basic naive RRT star implementation without obstacles.
67 - Polygon obstacle, collision with obstacles.
68 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
70 [WvTest]: https://github.com/apenwarr/wvtest