Update changelog, docstring

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3a7e556ceb464610d0883928453ffd647f4b08c3..e50ea821eb29ba3484e063e3cbc1e3f632fb3435 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ The format is based on [Keep a Changelog][] and this project adheres to
 
 ### Changed
 - When set up BicycleCar heading, set the interval to `[-pi, +pi]`.
+- Update drivable method to include heading.
 
 ### Fixed
 - Minimum turning radius used as curb-to-curb.

diff --git a/api/bcar.h b/api/bcar.h
index 4c83da17029a92688b3cad12ef89a0139de02b81..551300bfcd3d459f678a8021a05d12aadd56dfa2 100644 (file)
--- a/api/bcar.h
+++ b/api/bcar.h
@@ -48,9 +48,9 @@ class BicycleCar {
                 // kinematic constraints
                 /*! \brief Return `false` if `bc` is not achievable.
 
-                When `true` is returned the `bc` may still be not
-                achievable because in the current implementation,
-                heading is not considered.
+                When `false` is returned the `bc` may still be drivable,
+                because only "line segment - circle arc - line segment"
+                paths are considered in ``drivable`` method.
 
                 \param[in] bc The bicycle car to achieve.
                 */