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.
15 - Path optimization in backward direction.
18 - Reformat lists in readme.
19 - Add `RRTExt3` to compound extensions 18 - 33.
20 - Goal found check for zone instead of Euclidean distance and max. angle.
24 - Double value in unsigned int constant.
28 - Collision detection based on [cute c2][].
29 - Time restriction for algorithm.
30 - RRT node types (currently `cusp` and `connected`).
31 - Compound extensions.
32 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
33 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
34 - Compound extensions.
36 - Should continue method.
37 - Deinit method -- get ready for planner reset.
40 - 2D K-d tree extension.
41 - 3D K-d tree extension.
44 - How the algorithm is stopped - possible to choose from more options.
45 - Separate `store_node` procedure.
46 - Grid constants used in `ext4`.
47 - Some small refactoring.
50 - `should_continue` method.
52 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
56 - Bicycle car constructor for RRTNode.
57 - Different costs extension.
60 - Extend next with steering from just added nodes.
65 - Changelog, license, readme.
66 - Doxygen config file.
67 - [WvTest][] unit testing framework.
68 - Basic naive RRT star implementation without obstacles.
69 - Polygon obstacle, collision with obstacles.
70 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
72 [WvTest]: https://github.com/apenwarr/wvtest