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.
17 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
18 - Include last maneuver to the path optimization.
22 - Operator `==` for RRTNode.
25 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
26 - Test goal first, then random sample.
30 - Invalid memory access.
31 - Missing goals in ut.
36 - Missing source file in cmake config.
41 - Uniform sampling. (Normal sampling is still default.)
42 - Compound extensions 18 - 33.
43 - Path optimization in backward direction.
44 - Goal found check for zone instead of Euclidean distance and max. angle
48 - Reformat lists in readme.
49 - Add `RRTExt3` to compound extensions 18 - 33.
53 - Double value in unsigned int constant.
57 - Collision detection based on [cute c2][].
58 - Time restriction for algorithm.
59 - RRT node types (currently `cusp` and `connected`).
60 - Compound extensions.
61 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
62 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
63 - Compound extensions.
65 - Should continue method.
66 - Deinit method -- get ready for planner reset.
69 - 2D K-d tree extension.
70 - 3D K-d tree extension.
73 - How the algorithm is stopped - possible to choose from more options.
74 - Separate `store_node` procedure.
75 - Grid constants used in `ext4`.
76 - Some small refactoring.
79 - `should_continue` method.
81 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
85 - Bicycle car constructor for RRTNode.
86 - Different costs extension.
89 - Extend next with steering from just added nodes.
94 - Changelog, license, readme.
95 - Doxygen config file.
96 - [WvTest][] unit testing framework.
97 - Basic naive RRT star implementation without obstacles.
98 - Polygon obstacle, collision with obstacles.
99 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
101 [WvTest]: https://github.com/apenwarr/wvtest