Rename heuristics for paper compatibility

diff --git a/README.md b/README.md
index c6b89a9dd9867bc97b0ca587884f623b39c9d750..9cd6e0f105ff9e253d73d2050c4d92f15db484d1 100644 (file)
--- a/README.md
+++ b/README.md
@@ -36,7 +36,7 @@ and upgrades to RRT, *extensions* are declared in `rrtext.h` and implemented in
 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-H -- Reeds & Shepp (build), Matej's heur. (search).
+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,
@@ -45,7 +45,7 @@ number accomply to file `src/rrtextN.cc` where `N` is:
 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-B -- Reeds & Shepp (build), B-Spline paper (search)
+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
@@ -55,43 +55,43 @@ number accomply to file `src/rrtextN.cc` where `N` is:
 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-H.
+1.  cute, gz, Dijkstra, RS-M.
 2.  cute, gz, Dijkstra, RS-E.
 3.  cute, gz, Dijkstra, RS-RS.
-4.  RS-H, cute, 2D grid.
+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-H.
+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-H.
+12. cute, Dijkstra, 2D tree, RS-M.
 13. cute, Dijkstra, 3D tree, RS-RS.
-14. cute, Dijkstra, 3D tree, RS-H.
+14. cute, Dijkstra, 3D tree, RS-M.
 15. cute, Dijkstra, 3D grid, RS-RS.
-16. cute, Dijkstra, 3D grid, RS-H.
-17. cute, gz, Dijkstra, RS-B.
+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-H
-21. cute, gz, Dijkstra, 2D grid, RS-B
+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-H
-25. cute, gz, Dijkstra, 2D tree, RS-B
+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-H
-29. cute, gz, Dijkstra, 3D grid, RS-B
+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-H
-33. cute, gz, Dijkstra, 3D tree, RS-B
+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].