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.
14 - Different `steer` procedures.
16 - Steered1/2 vectors to remember steered nodes.
17 - Tmp steered in `connect` method.
20 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
21 - Include last maneuver to the path optimization.
22 - Goal zone to consider the range of the heading.
23 - Steer until collide.
31 - Operator `==` for RRTNode.
34 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
35 - Test goal first, then random sample.
39 - Invalid memory access.
40 - Missing goals in ut.
45 - Missing source file in cmake config.
50 - Uniform sampling. (Normal sampling is still default.)
51 - Compound extensions 18 - 33.
52 - Path optimization in backward direction.
53 - Goal found check for zone instead of Euclidean distance and max. angle
57 - Reformat lists in readme.
58 - Add `RRTExt3` to compound extensions 18 - 33.
62 - Double value in unsigned int constant.
66 - Collision detection based on [cute c2][].
67 - Time restriction for algorithm.
68 - RRT node types (currently `cusp` and `connected`).
69 - Compound extensions.
70 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
71 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
72 - Compound extensions.
74 - Should continue method.
75 - Deinit method -- get ready for planner reset.
78 - 2D K-d tree extension.
79 - 3D K-d tree extension.
82 - How the algorithm is stopped - possible to choose from more options.
83 - Separate `store_node` procedure.
84 - Grid constants used in `ext4`.
85 - Some small refactoring.
88 - `should_continue` method.
90 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
94 - Bicycle car constructor for RRTNode.
95 - Different costs extension.
98 - Extend next with steering from just added nodes.
101 ## 0.1.0 - 2019-08-05
103 - Changelog, license, readme.
104 - Doxygen config file.
105 - [WvTest][] unit testing framework.
106 - Basic naive RRT star implementation without obstacles.
107 - Polygon obstacle, collision with obstacles.
108 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
110 [WvTest]: https://github.com/apenwarr/wvtest