[Semantic Versioning]: http://semver.org/
## Unreleased
+
+## 0.4.0 - 2019-01-16
+### Added
+- Bidirectional T3 planner based on two T2 planners.
+- RRT\*-Connect algorithm based on [Klemm2015] paper.
+- Optimization procedure based on *Remove Redundant Points* from [Lan2015].
+- Variable steer step size to `st3` procedure.
+
+### Changed
+- Make `sample` procedure part of RRTBase.
+- Make `cost` function part of RRTBase.
+- Make `nn` procedure part of RRTBase.
+- Make `nv` procedure part of RRTBase.
+- Make `steer` procedure part of RRTBase.
+- Refactor `gplot` module.
+- T2 planner to include variable steer step size.
+- Set T3 planner as default.
+
+### Removed
+- RRTBase planner destructor. See `base/rrtbase.cc` for more info.
+
+## 0.3.0 - 2018-12-03
+### Added
+- Cost distribution plot function.
+- Heading independent near vertices procedure inspired by `nn4`.
+
+### Changed
+- Test script.
+- `nn4` use Euclidean distance while independently on RRT framework cost used.
+
+### Removed
+- `opt_part` procedure (unused).
+
+### Fixed
+- Dijkstra path optimization only if goal found.
+- Workaround used for optimizing part of path. There is a bug that causes
+ collision when steering from `i` to `i + 1` node of path from `tlog`. See
+ commit `9186f27`.
+
+## 0.2.1 - 2018-10-06
+### Fixed
+- Optimize path until optimal.
+
+## 0.2.0 - 2018-10-06
### Added
- Compilation macros that can specify output binary parameters.
- Auxiliary build and test scripts.
- Structure and method for logging tree edges.
- Time dimension to RRT node.
- Obstacle distance to RRT Node.
+- Test planner `T2` based on RRT\* [Karaman2011] with steering from newly added
+ nodes to goal.
+- OpenGL 2.1 plot using SDL2.
+- `nn4` procedure - set node's heading to heading of currently comparing node.
+- Add optimize path method based on [Islam2012]'s *Path Optimize* procedure.
+- Update cost method of `RRTNode` that updates cumulative costs of all
+ children.
### Changed
- Build with Ninja.
- Split `connect` and `rewire` procedures from Karaman2011's `next` procedure.
- Main planning loop logic.
+- Path optimization of `T2` based on Dijkstra between cusps points.
### Fixed
- Deletion of nodes returned by `steer` but not used.