Update changelog, readme

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0dcaa51e8c349759f6897450ef6628ee1de3a8ea..8a43bae9c748dc5f3849b4cc6a8b6f20435b86d2 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@ The format is based on [Keep a Changelog][] and this project adheres to
 ## Unreleased
 ### Added
 - Bicycle car constructor for RRTNode.
+- Different costs extension.
 
 ### Changed
 - Extend next with steering from just added nodes.

diff --git a/README.md b/README.md
index cd035106ad4ebd7b8d9bb42ba85dec34dab6edac..fbe6399cb804cee37742bcdff0ae0e7acd7f4cf5 100644 (file)
--- a/README.md
+++ b/README.md
@@ -15,6 +15,15 @@ cmake ../
 make
 ```
 
+# 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:
+- `rrtext1.cc`: different cost for building and searching.
+
 # Contribute
 Use [OneFlow][3] branching model and keep the [changelog][4].