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 - Operator `==` for RRTNode.
15 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
19 - Invalid memory access.
20 - Missing goals in ut.
25 - Missing source file in cmake config.
30 - Uniform sampling. (Normal sampling is still default.)
31 - Compound extensions 18 - 33.
32 - Path optimization in backward direction.
33 - Goal found check for zone instead of Euclidean distance and max. angle
37 - Reformat lists in readme.
38 - Add `RRTExt3` to compound extensions 18 - 33.
42 - Double value in unsigned int constant.
46 - Collision detection based on [cute c2][].
47 - Time restriction for algorithm.
48 - RRT node types (currently `cusp` and `connected`).
49 - Compound extensions.
50 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
51 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
52 - Compound extensions.
54 - Should continue method.
55 - Deinit method -- get ready for planner reset.
58 - 2D K-d tree extension.
59 - 3D K-d tree extension.
62 - How the algorithm is stopped - possible to choose from more options.
63 - Separate `store_node` procedure.
64 - Grid constants used in `ext4`.
65 - Some small refactoring.
68 - `should_continue` method.
70 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
74 - Bicycle car constructor for RRTNode.
75 - Different costs extension.
78 - Extend next with steering from just added nodes.
83 - Changelog, license, readme.
84 - Doxygen config file.
85 - [WvTest][] unit testing framework.
86 - Basic naive RRT star implementation without obstacles.
87 - Polygon obstacle, collision with obstacles.
88 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
90 [WvTest]: https://github.com/apenwarr/wvtest