v0.3.3

This release adds a pre-compiled Python package for Windows on PyPI!

v0.3.1

This release fixes two issues mostly regarding Windows. 🐛

• Fixes an issue when building from the Python source package (#40)
• Fixes the Python bindings using MSVC (#37)

v0.3.0

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

v0.2.6

🐍 Python

• Ruckig now has a Python package at PyPI! It can be installed via pip install ruckig.

v0.2

We made large steps towards a full-featured trajectory generator. This includes:

⚡ Features

• Added velocity Interface for velocity-control.
• Added setting for different time synchronization behaviors regarding multiple degrees of freedom.
• Added optional minimum acceleration limit, similar to the minimum velocity limit.
• Scaled tests to over 1.000.000.000 trajectories (100x improvement).
• Improved performance and overtook Reflexxes Type IV in comparison.
• Lot's of supplements and fixes for the Readme.
• Moved tests to doctest for faster compilations.

🐛 Fixes

• Fixes real-time capability with own set container.
• Fixes behavior after finishing the trajectory.
• Now compiles without any warnings and errors on GCC and Clang.

v0.1

First version with full support for target accelerations in multiple DoFs! 🎉

• Added min velocity limit.
• Added Doxygen-generated documentation and auto-publish via CI.
• More tests. Now over 1.400.000 random multi-dof trajectories.
• Added a benchmark for measuing the performance.
• Lot's of code cleaning and optimizations.
• Removed Eigen dependency.