Release version 0.4.0

[hubacji1/iamcar.git] / CHANGELOG.md

diff --git a/CHANGELOG.md b/CHANGELOG.md
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+++ b/CHANGELOG.md
@@ -9,6 +9,48 @@ The format is based on [Keep a Changelog][] and this project adheres to
 
 ## 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.