4 All notable changes to this project will be documented in this file.
6 The format is based on [Keep a Changelog][] and this project adheres to
7 [Semantic Versioning][].
9 [Keep a Changelog]: http://keepachangelog.com/
10 [Semantic Versioning]: http://semver.org/
22 - Path optimization based on Dijkstra, different interesting points search.
28 - Use search cost in nn, nv only.
29 - Make private methods public.
38 - Uniform circle sampling.
39 - Path cost before optimization.
40 - Different `steer` procedures.
42 - Steered1/2 vectors to remember steered nodes.
43 - Tmp steered in `connect` method.
44 - Overloaded next and connect in `rrtext12`.
49 - Log path each 0.1 seconds, stop algorithm after 2 seconds.
50 - Include last maneuver to the path optimization.
51 - Goal zone to consider the range of the heading.
52 - Steer until collide.
63 - Operator `==` for RRTNode.
66 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
67 - Test goal first, then random sample.
71 - Invalid memory access.
72 - Missing goals in ut.
77 - Missing source file in cmake config.
82 - Uniform sampling. (Normal sampling is still default.)
83 - Compound extensions 18 - 33.
84 - Path optimization in backward direction.
85 - Goal found check for zone instead of Euclidean distance and max. angle
89 - Reformat lists in readme.
90 - Add `RRTExt3` to compound extensions 18 - 33.
94 - Double value in unsigned int constant.
98 - Collision detection based on [cute c2][].
99 - Time restriction for algorithm.
100 - RRT node types (currently `cusp` and `connected`).
101 - Compound extensions.
102 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
103 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
104 - Compound extensions.
106 - Should continue method.
107 - Deinit method -- get ready for planner reset.
110 - 2D K-d tree extension.
111 - 3D K-d tree extension.
114 - How the algorithm is stopped - possible to choose from more options.
115 - Separate `store_node` procedure.
116 - Grid constants used in `ext4`.
117 - Some small refactoring.
120 - `should_continue` method.
122 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
124 ## 0.2.0 - 2019-09-26
126 - Bicycle car constructor for RRTNode.
127 - Different costs extension.
130 - Extend next with steering from just added nodes.
133 ## 0.1.0 - 2019-08-05
135 - Changelog, license, readme.
136 - Doxygen config file.
137 - [WvTest][] unit testing framework.
138 - Basic naive RRT star implementation without obstacles.
139 - Polygon obstacle, collision with obstacles.
140 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
142 [WvTest]: https://github.com/apenwarr/wvtest