Update changelog, readme

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 23ef275fc76d4371957c2c325850c895e56c6fef..9dbeb16790bb3533a87dca3d65675a7b183cb100 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,8 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Semantic Versioning]: http://semver.org/
 
 ## Unreleased
+### Added
+- Compilation macros that can specify output binary parameters.
 
 ## 0.1.0 - 2018-07-05
 ### Added

diff --git a/README.md b/README.md
index b1f7d67d70bd5933969cc0355150d5cc03276970..d8bc3cd516c575afc98082437448cd8a24c97823 100644 (file)
--- a/README.md
+++ b/README.md
@@ -16,6 +16,38 @@ cmake ../
 make
 ```
 
+## Compile Macros
+Macros that affects output binary may be used with the cmake commands as
+follows:
+```
+cmake -DPLANNER=LaValle1998 ../
+make
+```
+
+The list of available macros with values:
+- `PLANNER`
+        - `LaValle198` - RRT framework.
+        - `Kuwata2008` - RRT with changing cost and steering to goal.
+        - `Karaman2011` - RRT* framework.
+- `TMAX` - Specify the upper time bound in seconds.
+- `NN`
+        - `nn1` - Nearest neighbour basic DFS procedure.
+- `NV`
+        - `nv1` - Near vertices basic DFS procedure.
+- `SA`
+        - `sa1` - Basic sample procedure.
+- `ST`
+        - `st1` - Steer directly to goal.
+        - `st2` - Steer with maximum turning radius and direction in mind.
+        - `st3` - Reeds and Shepp steer procedure.
+        - `st4` - Very basic closed-loop simulator.
+- `CO`
+        - `co1` - Euclidean distance cost.
+        - `co2` - Reeds and Shepp distance.
+- `CCO`
+        - `co3` - Cumulative cost based on Euclidean distance.
+        - `co4` - Cumulative cost based on Reeds and Shepp distance.
+
 [CMake]: https://cmake.org/
 
 # Run