From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 12 Sep 2019 13:38:46 +0000 (+0200)
Subject: Update changelog, readme
X-Git-Tag: w/solid~4^2
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/2a2c38cf880939b7fd531644d4c3878e2ba08eb5

Update changelog, readme
---

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0dcaa51..8a43bae 100644
--- 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 cd03510..fbe6399 100644
--- 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].