Change steer step to 0.5 m

[hubacji1/rrts.git] / README.md

diff --git a/README.md b/README.md
index 7d84f1e6e1a94d7f0647beac4bcef48fe15cbd32..4fdfd97c71f7d5fa850b3fcb50883d12c4ed2101 100644 (file)
--- a/README.md
+++ b/README.md
@@ -33,34 +33,69 @@ 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:
-- `rrtext7.cc`: [K-d tree][] for node storage.
-- `rrtext6.cc`: Reeds and Shepp for both -- building and search costs,
-- `rrtext5.cc`: different cost for building (Reeds and Shepp) and searching
-  (Euclidean distance),
-- `rrtext4.cc`: store RRT nodes to grid,
-- `rrtext3.cc`: Dijkstra algorithm for path optimization,
-- `rrtext2.cc`: [cute c2][] for collision detection,
-- `rrtext1.cc`: different cost for building (Reeds and Shepp) and searching
-  (Matej's heuristics).
+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.
+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
 
 ## Compound extensions
-There is a list of classes with reference to extensions used:
-- `RRTCE1`: 1, 2.
-- `RRTCE2`: 2, 5.
-- `RRTCE3`: 2, 6.
-- `RRTCE4`: 1, 2, 4.
-- `RRTCE5`: 2, 4, 5.
-- `RRTCE6`: 2, 4, 6.
-- `RRTCE7`: 2, 3, 4, 5.
-- `RRTCE8`: 2, 3, 4, 6.
-- `RRTCE9`: 2, 3, 4, 1.
-- `RRTCE10`: 2, 3, 7, 6.
-- `RRTCE11`: 2, 3, 7, 5.
-- `RRTCE12`: 2, 3, 7, 1.
+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
+
+34. cute, gz, Dijkstra, 3D tree, RS-H, diff. steer
 
 # Contribute
 Use [OneFlow][3] branching model and keep the [changelog][4].