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Releases: hungpham2511/toppra

Release 0.3.1

23 Aug 08:31
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Added

  • [docs] Use example gallery to show examples.
  • [cpp] Implement serialization/deserialization for piecewise poly trajectory.
  • [cpp] Provide Python bindings for PiecewisePolyPath, TOPPRA and constraint classes.
  • [cpp] Construct piecewise poly as a hermite spline.
  • [cpp] Add varying joint velocity limits.
  • [python] [#117] Provide an option to allow Python 2.7 usage
  • [python] [#117] Post-processing is now done via parametrizer classes.

Changed

  • [python]Add some type annotations to parameterizer.py
  • [python]Support older interpolation method.
  • [cpp] Minor improvement to PiecewisePolyPath.
  • [python] Implement ParametrizeConstAccel to allow reparametrize path.
  • [python] Parametrization output accessible via ParameterizationData class.
  • [python] Remove useless scaling in parameter computation.
  • [cpp] Clamp velocities to be within controllable sets.
  • [ci] [#117] Improve CI pipeline to test on several python versions
  • [ci] [#139] Automate publish to PyPI server

Brand new toppra C++ API and improvements to Python API.

03 May 14:14
e72b40b
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Added

  • [cpp] Add solver wrapper based on GLPK.
  • [cpp] Initial cpp TOPPRA implementation: compute parametrization, feasible sets, qpOASES solver wrapper.
  • [python] Implement a new trajectory class for specified velocities.

Changed

  • [python] Improve documentation for toppra.constraint
  • [python] #98: Eliminate use of deprecated method.
  • [cpp] Bug fixes in solver wrapper.
  • [python] Simplify TOPPRA class interface.
  • [python] [0e022c][cm-0e022c] Update README.md to reflect development roadmap.
  • [python] Format some source files with black.
  • [python] [#78][gh-78] Improve documentation structure.
  • [python] [#79][gh-79] Improve documentation structure.

Removed

  • Dropping support for Python2.7. Adding type annotation compatible to Python 3.

Improve Python3 support + some new features

27 Apr 08:00
390d387
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  • Most of the tests have been patched to run on Python3.
  • Code refactored for better readability
  • Merge forward reachability PR (thank @herjia )
  • Merge Joint Torque constraint with friction (thank @Linjackffy )
  • Documentation moved to readthedocs

Implement scaling for hot-qpoases solverwrapper

13 Apr 06:35
f426c8e
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Merge pull request #37 from hungpham2511/hung-dev

Automatic scaling for qpoases solver-wrapper