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@@ -34,39 +34,37 @@ and upgrades to RRT, *extensions* are declared in `rrtext.h` and implemented in
 
 ## Implemented extensions
 There is a list of implemented extensions and what they include:
-- `rrtext9.cc`: store RRT nodes to 3D grid,
-- `rrtext8.cc`: 3D [K-d tree][] for node storage.
-- `rrtext7.cc`: 2D [K-d tree][] for node storage.
-- `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 2D 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).
+- `rrtext9.cc`: "nn" 3D grid for nodes storage,
+- `rrtext8.cc`: "nn" 3D [K-d tree][] for nodes storage,
+- `rrtext7.cc`: "nn" 2D [K-d tree][] for nodes storage,
+- `rrtext6.cc`: "cost" RS-RS -- Reeds & Shepp (build), Reeds & Shepp (search),
+- `rrtext5.cc`: "cost" RS-E -- Reeds & Shepp (build), Euclidean (search),
+- `rrtext4.cc`: "nn" 2D grid for nodes storage,
+- `rrtext3.cc`: "path optimization" Dijkstra algorithm,
+- `rrtext2.cc`: "collision" [cute c2][] for collision detection,
+- `rrtext1.cc`: "cost" RS-H -- Reeds & Shepp (build), Matej's heur. (search).
 
 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
 [K-d tree]: https://en.wikipedia.org/wiki/K-d_tree
 
 ## Compound extensions
 There is a list of classes with reference to extensions used:
-- `RRTCE1`: 1, 2.
-- `RRTCE2`: 2, 5.
-- `RRTCE3`: 2, 6.
-- `RRTCE4`: 1, 2, 4.
-- `RRTCE5`: 2, 4, 5.
-- `RRTCE6`: 2, 4, 6.
-- `RRTCE7`: 2, 3, 4, 5.
-- `RRTCE8`: 2, 3, 4, 6.
-- `RRTCE9`: 2, 3, 4, 1.
-- `RRTCE10`: 2, 3, 7, 6.
-- `RRTCE11`: 2, 3, 7, 5.
-- `RRTCE12`: 2, 3, 7, 1.
-- `RRTCE13`: 2, 3, 8, 6.
-- `RRTCE14`: 2, 3, 8, 1.
-- `RRTCE15`: 2, 3, 9, 6.
-- `RRTCE16`: 2, 3, 9, 1.
+- `RRTCE1`: RS-H, cute.
+- `RRTCE2`: cute, RS-E.
+- `RRTCE3`: cute, RS-RS.
+- `RRTCE4`: RS-H, cute, 2D grid.
+- `RRTCE5`: cute, 2D grid, RS-E.
+- `RRTCE6`: cute, 2D grid, RS-RS.
+- `RRTCE7`: cute, Dijkstra, 2D grid, RS-E.
+- `RRTCE8`: cute, Dijkstra, 2D grid, RS-RS.
+- `RRTCE9`: cute, Dijkstra, 2D grid, RS-H.
+- `RRTCE10`: cute, Dijkstra, 2D tree, RS-RS.
+- `RRTCE11`: cute, Dijkstra, 2D tree, RS-E.
+- `RRTCE12`: cute, Dijkstra, 2D tree, RS-H.
+- `RRTCE13`: cute, Dijkstra, 3D tree, RS-RS.
+- `RRTCE14`: cute, Dijkstra, 3D tree, RS-H.
+- `RRTCE15`: cute, Dijkstra, 3D grid, RS-RS.
+- `RRTCE16`: cute, Dijkstra, 3D grid, RS-H.
 
 # Contribute
 Use [OneFlow][3] branching model and keep the [changelog][4].