There is a list of implemented extensions and what they include. The extension
number accomply to file `src/rrtextN.cc` where `N` is:
-1. "cost" RS-H -- Reeds & Shepp (build), Matej's heur. (search).
+1. "cost" RS-M -- Reeds & Shepp (build), Matej's heur. (search).
2. "collision" [cute c2][] for collision detection,
3. "path optimization" Dijkstra algorithm,
4. "nn" 2D grid for nodes storage,
7. "nn" 2D [K-d tree][] for nodes storage,
8. "nn" 3D [K-d tree][] for nodes storage,
9. "nn" 3D grid for nodes storage,
-10. "cost" RS-B -- Reeds & Shepp (build), B-Spline paper (search)
+10. "cost" RS-H -- Reeds & Shepp (build), B-Spline paper (search)
+11. "goal zone" gz -- Use drivable of libbcar to check if goal found.
+12. "steer" -- Use random control input for `steer1`, use R&S for `steer2`.
+13. "path optimization" -- Dijkstra algorithm, goal zone for interesting nodes.
[cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
[K-d tree]: https://en.wikipedia.org/wiki/K-d_tree
There is a list of classes with reference to extensions used. The extensio
number accomply to class `RRTCEn` where `n` is:
-1. cute, RS-H.
-2. cute, RS-E.
-3. cute, RS-RS.
-4. RS-H, cute, 2D grid.
+1. cute, gz, Dijkstra, RS-M.
+2. cute, gz, Dijkstra, RS-E.
+3. cute, gz, Dijkstra, RS-RS.
+4. RS-M, cute, 2D grid.
5. cute, 2D grid, RS-E.
6. cute, 2D grid, RS-RS.
7. cute, Dijkstra, 2D grid, RS-E.
8. cute, Dijkstra, 2D grid, RS-RS.
-9. cute, Dijkstra, 2D grid, RS-H.
+9. cute, Dijkstra, 2D grid, RS-M.
10. cute, Dijkstra, 2D tree, RS-RS.
11. cute, Dijkstra, 2D tree, RS-E.
-12. cute, Dijkstra, 2D tree, RS-H.
+12. cute, Dijkstra, 2D tree, RS-M.
13. cute, Dijkstra, 3D tree, RS-RS.
-14. cute, Dijkstra, 3D tree, RS-H.
+14. cute, Dijkstra, 3D tree, RS-M.
15. cute, Dijkstra, 3D grid, RS-RS.
-16. cute, Dijkstra, 3D grid, RS-H.
-17. cute, RS-B.
-
-18. cute, 2D grid, RS-RS
-19. cute, 2D grid, RS-E
-20. cute, 2D grid, RS-H
-21. cute, 2D grid, RS-B
-
-22. cute, 2D tree, RS-RS
-23. cute, 2D tree, RS-E
-24. cute, 2D tree, RS-H
-25. cute, 2D tree, RS-B
-
-26. cute, 3D grid, RS-RS
-27. cute, 3D grid, RS-E
-28. cute, 3D grid, RS-H
-29. cute, 3D grid, RS-B
-
-30. cute, 3D tree, RS-RS
-31. cute, 3D tree, RS-E
-32. cute, 3D tree, RS-H
-33. cute, 3D tree, RS-B
+16. cute, Dijkstra, 3D grid, RS-M.
+17. cute, gz, Dijkstra, RS-H.
+
+18. cute, gz, Dijkstra, 2D grid, RS-RS
+19. cute, gz, Dijkstra, 2D grid, RS-E
+20. cute, gz, Dijkstra, 2D grid, RS-M
+21. cute, gz, Dijkstra, 2D grid, RS-H
+
+22. cute, gz, Dijkstra, 2D tree, RS-RS
+23. cute, gz, Dijkstra, 2D tree, RS-E
+24. cute, gz, Dijkstra, 2D tree, RS-M
+25. cute, gz, Dijkstra, 2D tree, RS-H
+
+26. cute, gz, Dijkstra, 3D grid, RS-RS
+27. cute, gz, Dijkstra, 3D grid, RS-E
+28. cute, gz, Dijkstra, 3D grid, RS-M
+29. cute, gz, Dijkstra, 3D grid, RS-H
+
+30. cute, gz, Dijkstra, 3D tree, RS-RS
+31. cute, gz, Dijkstra, 3D tree, RS-E
+32. cute, gz, Dijkstra, 3D tree, RS-M
+33. cute, gz, Dijkstra, 3D tree, RS-H
+
+34. cute, gz, Dijkstra, 3D tree, RS-H, diff. steer
# Contribute
Use [OneFlow][3] branching model and keep the [changelog][4].