Update changelog

[hubacji1/rrts.git] / CHANGELOG.md

diff --git a/CHANGELOG.md b/CHANGELOG.md
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@@ -8,9 +8,19 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Semantic Versioning]: http://semver.org/
 
 ## Unreleased
+
+## 0.4.0 - 2020-05-26
 ### Added
 - 3D grid extension.
 - Uniform sampling. (Normal sampling is still default.)
+- Compound extensions 18 - 33.
+- Path optimization in backward direction.
+- Goal found check for zone instead of Euclidean distance and max. angle
+  extension.
+
+### Changed
+- Reformat lists in readme.
+- Add `RRTExt3` to compound extensions 18 - 33.
 
 ## 0.3.1 - 2020-01-03
 ### Fixed