9. "nn" 3D grid for nodes storage,
10. "cost" RS-H -- Reeds & Shepp (build), B-Spline paper (search)
11. "goal zone" gz -- Use drivable of libbcar to check if goal found.
+12. "steer" -- Use random control input for `steer1`, use R&S for `steer2`.
+13. "path optimization" -- Dijkstra algorithm, goal zone for interesting nodes.
[cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
[K-d tree]: https://en.wikipedia.org/wiki/K-d_tree
32. cute, gz, Dijkstra, 3D tree, RS-M
33. cute, gz, Dijkstra, 3D tree, RS-H
+34. cute, gz, Dijkstra, 3D tree, RS-H, diff. steer
+
# Contribute
Use [OneFlow][3] branching model and keep the [changelog][4].