Release version 0.4.0

### 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.

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8f58583fa200da35ed2641670f4bf0de5da09f19..5158e284feb1ce0229719e2c787b804a1fd28cec 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
+
+## 0.4.0 - 2019-01-16
 ### Added
 - Bidirectional T3 planner based on two T2 planners.
 - RRT\*-Connect algorithm based on [Klemm2015] paper.