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v0.3.0
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@pantor pantor released this 16 Jun 08:17
v0.3.0
0bdf24e

This release primarily improves the numerical stability of Ruckig. In particular, we added tests (and fixed several issues) for difficult cases by stepping through time-optimal trajectories.

⚡ Features

  • Added optional phase synchronization for straight-line trajectories (#13)

🐛 Bug Fixes

  • Try to recalculate trajectory in the case of errors (#20)
  • Improved numeric stability for inputs with different order of magnitudes (#27)
  • Fixed a numeric bug for very small negative position differences (#30)
  • Fixes in the position extremum calculation (#33)
  • Fixes when calculating whether phase synchronization is possible (#32)
  • The Python wrapper for the at_time method now returns the new kinematic state (#34)
  • Fixed several compilation warnings and treat them as errors furthermore

🤖 Tests

  • Add tests for stepping through calculated trajectories
  • Add tests for directional dependent velocity and acceleration constraints
  • Add tests for extremal position calculation
Assets 2
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