2 All notable changes to this project will be documented in this file.
4 The format is based on [Keep a Changelog][] and this project adheres to
5 [Semantic Versioning][].
7 [Keep a Changelog]: http://keepachangelog.com/
8 [Semantic Versioning]: http://semver.org/
12 - Uniform circle sampling.
13 - Path cost before optimization.
14 - Different `steer` procedures.
16 - Steered1/2 vectors to remember steered nodes.
17 - Tmp steered in `connect` method.
18 - Overloaded next and connect in `rrtext12`.
21 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
22 - Include last maneuver to the path optimization.
23 - Goal zone to consider the range of the heading.
24 - Steer until collide.
32 - Operator `==` for RRTNode.
35 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
36 - Test goal first, then random sample.
40 - Invalid memory access.
41 - Missing goals in ut.
46 - Missing source file in cmake config.
51 - Uniform sampling. (Normal sampling is still default.)
52 - Compound extensions 18 - 33.
53 - Path optimization in backward direction.
54 - Goal found check for zone instead of Euclidean distance and max. angle
58 - Reformat lists in readme.
59 - Add `RRTExt3` to compound extensions 18 - 33.
63 - Double value in unsigned int constant.
67 - Collision detection based on [cute c2][].
68 - Time restriction for algorithm.
69 - RRT node types (currently `cusp` and `connected`).
70 - Compound extensions.
71 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
72 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
73 - Compound extensions.
75 - Should continue method.
76 - Deinit method -- get ready for planner reset.
79 - 2D K-d tree extension.
80 - 3D K-d tree extension.
83 - How the algorithm is stopped - possible to choose from more options.
84 - Separate `store_node` procedure.
85 - Grid constants used in `ext4`.
86 - Some small refactoring.
89 - `should_continue` method.
91 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
95 - Bicycle car constructor for RRTNode.
96 - Different costs extension.
99 - Extend next with steering from just added nodes.
102 ## 0.1.0 - 2019-08-05
104 - Changelog, license, readme.
105 - Doxygen config file.
106 - [WvTest][] unit testing framework.
107 - Basic naive RRT star implementation without obstacles.
108 - Polygon obstacle, collision with obstacles.
109 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
111 [WvTest]: https://github.com/apenwarr/wvtest