Set T3 as default planner

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d829250b6f9f66a24ce33514348828e2d13b6a66..8f58583fa200da35ed2641670f4bf0de5da09f19 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,7 @@ The format is based on [Keep a Changelog][] and this project adheres to
 - 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.

diff --git a/README.md b/README.md
index d7e86d5ba9fc43680998cfefa4f36ffcddec7be6..a59adb5345c6f456c80df92c89c5ee1acef49df1 100644 (file)
--- a/README.md
+++ b/README.md
@@ -11,6 +11,12 @@ history see [changelog][].
 # Build
 [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.
+
 ##  Prerequisities
 - `cmake`
 - `libjsoncpp-dev`
@@ -47,7 +53,7 @@ The list of available macros with values:
         - `Karaman2011` - RRT* framework.
         - `T1` - testing planner.
         - `T2` - testing planner based on RRT*.
-        - `T3` - testing planner, update T2 to bidirectional.
+        - `T3` - testing planner, update `T2` to bidirectional.
         - `Klamm2015` - RRT*-Connect planner.
 - `TMAX` - Specify the upper time bound in seconds.
 

diff --git a/build.sh b/build.sh
index 16bb3732d0b772b9488aef44d835f4986e2ba562..22858976f434f5b133593f45497dafaab154611f 100644 (file)
--- a/build.sh
+++ b/build.sh
@@ -2,10 +2,11 @@
 mkdir ./bin/
 mkdir ./build/
 cd ./build/
-for p in {T2,T3,Klemm2015};
+for p in {T3,};
 do
         rm CMakeCache.txt
-        cmake -DPLANNER=$p -DTMAX=60 \
+        cmake -DPLANNER=$p -DTMAX=10 \
+                -DCMAKE_DISABLE_FIND_PACKAGE_OpenMP=TRUE \
                 -DCMAKE_BUILD_TYPE=Release -G Ninja ../
         ninja -v
         mv ./go_car_go ../bin/${p}