X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/blobdiff_plain/b14e40a29d82f0c11b8ed2b5e58587ae59792109..HEAD:/README.md

diff --git a/README.md b/README.md
index a59adb5..69fa0b0 100644
--- a/README.md
+++ b/README.md
@@ -12,10 +12,13 @@ history see [changelog][].
 [CMake][] is used for the project build.
 
 ## Default planner
-The default planner is `T3`. Only `T3` is compatible with `USE_PTHREAD` macro
-in `base/main.cc` file. When other planner than `T3` is going to be used the
-`USE_PTHREAD` must not be set and `RRTBase` destructor in `base/rrtbase.cc`
-must be uncommented.
+The default planner is `T2`.
+
+## `T3` planner
+Only `T3` planner is compatible with `USE_PTHREAD` macro in `base/main.cc`
+file. When `T3` is going to be used the `USE_PTHREAD` must be set and `RRTBase`
+destructor in `base/rrtbase.cc` must be commented. Also, the commit `fd2cd6b`
+must be reverted.
 
 ##  Prerequisities
 - `cmake`
@@ -56,12 +59,15 @@ The list of available macros with values:
         - `T3` - testing planner, update `T2` to bidirectional.
         - `Klamm2015` - RRT*-Connect planner.
 - `TMAX` - Specify the upper time bound in seconds.
+- `USE_GL` - Specify if GL is going to be used to plot the algorithm.
+- `USE_SLOTPLANNER` - Specify if slot planner is going to be used.
 
 Implemented Steering procedures:
 - `st1` - Steer directly to goal, no constraints.
 - `st2` - Steer with maximum turning radius and direction in mind.
 - `st3` - Reeds and Shepp steer procedure.
 - `st4` - Very basic closed-loop simulator.
+- `st5` - Dubins paths.
 
 To disable *OpenMP*, add `-DCMAKE_DISABLE_FIND_PACKAGE_OpenMP=TRUE` to `cmake`
 command or to `build.sh` script.