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/
21 - Uniform circle sampling.
22 - Path cost before optimization.
23 - Different `steer` procedures.
25 - Steered1/2 vectors to remember steered nodes.
26 - Tmp steered in `connect` method.
27 - Overloaded next and connect in `rrtext12`.
32 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
33 - Include last maneuver to the path optimization.
34 - Goal zone to consider the range of the heading.
35 - Steer until collide.
46 - Operator `==` for RRTNode.
49 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
50 - Test goal first, then random sample.
54 - Invalid memory access.
55 - Missing goals in ut.
60 - Missing source file in cmake config.
65 - Uniform sampling. (Normal sampling is still default.)
66 - Compound extensions 18 - 33.
67 - Path optimization in backward direction.
68 - Goal found check for zone instead of Euclidean distance and max. angle
72 - Reformat lists in readme.
73 - Add `RRTExt3` to compound extensions 18 - 33.
77 - Double value in unsigned int constant.
81 - Collision detection based on [cute c2][].
82 - Time restriction for algorithm.
83 - RRT node types (currently `cusp` and `connected`).
84 - Compound extensions.
85 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
86 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
87 - Compound extensions.
89 - Should continue method.
90 - Deinit method -- get ready for planner reset.
93 - 2D K-d tree extension.
94 - 3D K-d tree extension.
97 - How the algorithm is stopped - possible to choose from more options.
98 - Separate `store_node` procedure.
99 - Grid constants used in `ext4`.
100 - Some small refactoring.
103 - `should_continue` method.
105 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
107 ## 0.2.0 - 2019-09-26
109 - Bicycle car constructor for RRTNode.
110 - Different costs extension.
113 - Extend next with steering from just added nodes.
116 ## 0.1.0 - 2019-08-05
118 - Changelog, license, readme.
119 - Doxygen config file.
120 - [WvTest][] unit testing framework.
121 - Basic naive RRT star implementation without obstacles.
122 - Polygon obstacle, collision with obstacles.
123 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
125 [WvTest]: https://github.com/apenwarr/wvtest