-# Changelog
+Changelog
+=========
+
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog][] and this project adheres to
[Keep a Changelog]: http://keepachangelog.com/
[Semantic Versioning]: http://semver.org/
-## Unreleased
+Unreleased
+==========
+
+Added
+-----
+
+- Path optimization based on Dijkstra, different interesting points search.
+
+
+0.6.0 - 2021-04-08
+==================
+
+Added
+-----
+
+- Uniform circle sampling.
+- Path cost before optimization.
+- Different `steer` procedures.
+- _Entry_ input.
+- Steered1/2 vectors to remember steered nodes.
+- Tmp steered in `connect` method.
+- Overloaded next and connect in `rrtext12`.
+
+Changed
+-------
+
+- Log path each 0.1 seconds, stop algorithm after 2 seconds.
+- Include last maneuver to the path optimization.
+- Goal zone to consider the range of the heading.
+- Steer until collide.
+- Steer by 0.2 m.
+
+Fixed
+-----
+
+- Sampling in circle.
+
+
+## 0.5.0 - 2020-07-23
+### Added
+- Operator `==` for RRTNode.
+
+### Changed
+- Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
+- Test goal first, then random sample.
+
+## 0.4.2 - 2020-05-28
+### Fixed
+- Invalid memory access.
+- Missing goals in ut.
+- Wrong goals in ut.
+
+## 0.4.1 - 2020-05-26
+### Fixed
+- Missing source file in cmake config.
+
+## 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
+- Double value in unsigned int constant.
+
+## 0.3.0 - 2020-01-03
+### Added
+- Collision detection based on [cute c2][].
+- Time restriction for algorithm.
+- RRT node types (currently `cusp` and `connected`).
+- Compound extensions.
+- Dijkstra algorithm for path optimization (`rrtext3.cc`).
+- Grid based `nn` and `nv` methods (`rrtext4.cc`).
+- Compound extensions.
+- JSON output.
+- Should continue method.
+- Deinit method -- get ready for planner reset.
+- JSON input.
+- JSON output.
+- 2D K-d tree extension.
+- 3D K-d tree extension.
+
+### Changed
+- How the algorithm is stopped - possible to choose from more options.
+- Separate `store_node` procedure.
+- Grid constants used in `ext4`.
+- Some small refactoring.
+
+### Deprecated
+- `should_continue` method.
+
+[cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
+
+## 0.2.0 - 2019-09-26
+### Added
+- Bicycle car constructor for RRTNode.
+- Different costs extension.
+
+### Changed
+- Extend next with steering from just added nodes.
+- Refactor next.
+
+## 0.1.0 - 2019-08-05
### Added
- Changelog, license, readme.
- Doxygen config file.
- [WvTest][] unit testing framework.
- Basic naive RRT star implementation without obstacles.
- Polygon obstacle, collision with obstacles.
+- Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
[WvTest]: https://github.com/apenwarr/wvtest
projects / hubacji1 / rrts.git / blobdiff