Toppra Versions Save

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

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.

• 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