-# RRT Extensions
-There is basic RRT\* algorithm in `rrts.cc` file. To test different approaches
-and upgrades to RRT, *extensions* are declared in `rrtext.h` and implemented in
-`rrtextX.cc`, where `X` is the number of an extension.
-
-## Implemented extensions
-There is a list of implemented extensions and what they include. The extension
-number accomply to file `src/rrtextN.cc` where `N` is:
-
-1. "cost" RS-M -- Reeds & Shepp (build), Matej's heur. (search).
-2. "collision" [cute c2][] for collision detection,
-3. "path optimization" Dijkstra algorithm,
-4. "nn" 2D grid for nodes storage,
-5. "cost" RS-E -- Reeds & Shepp (build), Euclidean (search),
-6. "cost" RS-RS -- Reeds & Shepp (build), Reeds & Shepp (search),
-7. "nn" 2D [K-d tree][] for nodes storage,
-8. "nn" 3D [K-d tree][] for nodes storage,
-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.
-
-[cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
-[K-d tree]: https://en.wikipedia.org/wiki/K-d_tree
-
-## Compound extensions
-There is a list of classes with reference to extensions used. The extensio
-number accomply to class `RRTCEn` where `n` is:
-
-1. cute, gz, Dijkstra, RS-M.
-2. cute, gz, Dijkstra, RS-E.
-3. cute, gz, Dijkstra, RS-RS.
-4. RS-M, cute, 2D grid.
-5. cute, 2D grid, RS-E.
-6. cute, 2D grid, RS-RS.
-7. cute, Dijkstra, 2D grid, RS-E.
-8. cute, Dijkstra, 2D grid, RS-RS.
-9. cute, Dijkstra, 2D grid, RS-M.
-10. cute, Dijkstra, 2D tree, RS-RS.
-11. cute, Dijkstra, 2D tree, RS-E.
-12. cute, Dijkstra, 2D tree, RS-M.
-13. cute, Dijkstra, 3D tree, RS-RS.
-14. cute, Dijkstra, 3D tree, RS-M.
-15. cute, Dijkstra, 3D grid, RS-RS.
-16. cute, Dijkstra, 3D grid, RS-M.
-17. cute, gz, Dijkstra, RS-H.
-
-18. cute, gz, Dijkstra, 2D grid, RS-RS
-19. cute, gz, Dijkstra, 2D grid, RS-E
-20. cute, gz, Dijkstra, 2D grid, RS-M
-21. cute, gz, Dijkstra, 2D grid, RS-H
-
-22. cute, gz, Dijkstra, 2D tree, RS-RS
-23. cute, gz, Dijkstra, 2D tree, RS-E
-24. cute, gz, Dijkstra, 2D tree, RS-M
-25. cute, gz, Dijkstra, 2D tree, RS-H
-
-26. cute, gz, Dijkstra, 3D grid, RS-RS
-27. cute, gz, Dijkstra, 3D grid, RS-E
-28. cute, gz, Dijkstra, 3D grid, RS-M
-29. cute, gz, Dijkstra, 3D grid, RS-H
-
-30. cute, gz, Dijkstra, 3D tree, RS-RS
-31. cute, gz, Dijkstra, 3D tree, RS-E
-32. cute, gz, Dijkstra, 3D tree, RS-M
-33. cute, gz, Dijkstra, 3D tree, RS-H
-
-# Contribute
-Use [OneFlow][3] branching model and keep the [changelog][4].