X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/blobdiff_plain/8bcf7bbe5e8e35cf2471f6cdd19b5d3f0e8d392c..HEAD:/CHANGELOG.md

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 143e958..99af7f9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,15 +8,104 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Semantic Versioning]: http://semver.org/
 
 ## Unreleased
+
+## 0.7.0 - 2019-09-10
+### Added
+- Forward perpendicular parking methods for `SlotPlanner`.
+- Angle forward/backward parking.
+- Multiple `firsts` points tested before random sampling.
+- Dubins path steering procedure.
+
+### Changed
+- Parking slot in scenario starts with the point closest to the init pose.
+- Fix and include perpendicular parking slot in *find init pose* method of
+  SlotPlanner.
+- In T2's next method, steer to multiple goals that are connected with goal.
+- Normal distribution in sampling.
+- Sampling info based on init pose find by `fip()` of SlotPlanner.
+- Refactor Nearest Neighbor, remove unused files.
+- Make sampling info scenario dependent.
+- Scenario JSON format.
+
+### Fixed
+- IYI computation.
+
+## 0.6.1 - 2019-05-21
+### Fixed
+- Missing declaration.
+
+## 0.6.0 - 2019-05-20
+### Added
+- Right parallel parking slot planner.
+- Shrinking length of parallel parking slot test.
+- SlotPlanner *Find Init Pose* `fip()` method based on BFS.
+- Reverse approach for finding "entry pose". See Vorobieva2015 for more info.
+- SlotSide (LEFT, RIGHT) and SlotType (PARALLEL, PERPENDICULAR) methods for
+  SlotPlanner.
+- Information used for sampling getter.
+- Slot planner working for perpendicular parking scenario also.
+- Matej's heuristic cost.
+- Perpendicular slot planner proposal.
+- Random samples logging.
+- Rotate scenario script.
+- Obstacles to SlotPlanner.
+
+### Changed
+- Test results plot.
+- Make `T2` planner the default planner.
+- Sampling info for different dimensions and angles of slot.
+- Use reverse approach for finding init pose by default.
+- Use `USE_GL` macro for build, in code.
+
+### Fixed
+- Car border.
+
+## 0.5.0 - 20109-02-26
+### Added
+- 2d grid data structure for indexing nodes by `x` and `y` axes.
+- Polygon obstacle.
+- Bicycle car geometry:
+    - Turning radius circle centers.
+    - Drivable space collision.
+- Slot planner for parallel parking.
+
+## 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