v0.4.0

⚡ Features

• Ruckig now allows a dynamic number of DoFs with ruckig::DynamicDOFs. In particular, this allows the Python wrapper to be used with any number of DoF (#47).
• Improved the performance for trajectory calculation by around 30%.
• Added offline trajectory calculation without the need of a control cycle time.
• Added the get_first_time_at_position method to calculate when a specific position is reached.

🐛 Bug Fixes

• Improved numeric stability, in particular for very long trajectories and very high limits.
• Fixed min_velocity in phase synchronization.
• Fixed several smaller bugs and compiler warnings.

🤖 Tests

• Added tests for secondary features like input validation, inverse position calculation, etc...