Release version 0.4.0

[hubacji1/iamcar.git] / CHANGELOG.md

diff --git a/CHANGELOG.md b/CHANGELOG.md
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@@ -8,12 +8,26 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [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