### Added
- Collision detection based on [cute c2][].
- Time restriction for algorithm.
- RRT node types (currently `cusp` and `connected`).
- Compound extensions.
- Dijkstra algorithm for path optimization (`rrtext3.cc`).
- Grid based `nn` and `nv` methods (`rrtext4.cc`).
- Compound extensions.
- JSON output.
- Should continue method.
- Deinit method -- get ready for planner reset.
- JSON input.
- JSON output.
### Changed
- How the algorithm is stopped - possible to choose from more options.
- Separate `store_node` procedure.
- Grid constants used in `ext4`.
- Some small refactoring.