Please follow the guidelines below if you are interested in making contributions to this library:
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Open a new issue and describe the bug you want to fix or the feature you want to implement (see the TODO list below for ideas) so it can be assigned to you
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Fork the repository and make a new branch where updates will be added
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Have descriptive commit messages especially if the API is affected, and check your commits to make sure it compiles and runs
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Include tests for new features or significant changes
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Push commits to your fork and make a pull request
More or less in order of priority
- Update to latest GTSAM version
- Support Python 3.x
- Load environments from urdf/xml style formats to construct signed distance fields
- Load robot urdf/xml files and construct forward kinematics for them automatically
- Simple visualizer for environment, robot, trajectory, etc on the python wrapper side
- Alternate obstacle cost functions like, barrier function