-```
-mkdir build
-cd build
-cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
-ninja -v
-```
-
-# RRT Extensions
-There is basic RRT\* algorithm in `rrts.cc` file. To test different approaches
-and upgrades to RRT, *extensions* are declared in `rrtext.h` and implemented in
-`rrtextX.cc`, where `X` is the number of an extension.
-
-## Implemented extensions
-There is a list of implemented extensions and what they include:
-- `rrtext6.cc`: Reeds and Shepp for both -- building and search costs,
-- `rrtext5.cc`: different cost for building (Reeds and Shepp) and searching
- (Euclidean distance),
-- `rrtext4.cc`: store RRT nodes to grid,
-- `rrtext3.cc`: Dijkstra algorithm for path optimization,
-- `rrtext2.cc`: [cute c2][] for collision detection,
-- `rrtext1.cc`: different cost for building (Reeds and Shepp) and searching
- (Matej's heuristics).
-
-[cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
-
-## Compound extensions
-There is a list of classes with reference to extensions used:
-- `RRTCE1`: 1, 2.
-- `RRTCE2`: 2, 5.
-- `RRTCE3`: 2, 6.
-
-# Contribute
-Use [OneFlow][3] branching model and keep the [changelog][4].