Changelog

0.6.2 (Sept 19 2023)

[python] seidelWrapper solves 1d LP instead of 2d LP when x_min == x_max and solve_1d > 0
[python] Fixed planning_utils.py to follow the latest api of toppra.algorithm.ParameterizationAlgorithm
[cpp] add initial gridpoints to proposeGridpoints method.

[cpp] Minor PR to make the cpp part compiles on windows64 (msvc). Thanks @ahoarau.
[cpp] Fixed out of bounds issue in parametrizer::ConstAccel.
[cpp] Fixed incorrect variable bug in seidel solver.
[cpp] [#187] Expose waypoint times in parametizers.
[python] Fix linting error that causes CI failure
[ci] Do integration testing in gh action instead of circle CI
[ci] Remove Circle CI and use Github Action for all testings

[cpp] Replace for loop in piecewise poly path to find index by std::lower_bound.

[python] Fixed build error when cython and numpy were not pre-installed
[python] Fix a bug that prevent user from using the ConstAccelParametrizer
[python] Allow specifying minimum nb of grid-points during automatic selection
[python] Minor performance tweak in reachability_algorithm.py
[ci] Fix python2.7 dependencies
[python] Minor bug fixed in the SimplePath class
[cpp] #129 Implement constant-acceleration trajectory parametrizer
[cpp] #143 Add PathParametrizationAlgorithm::setGridpoints
[cpp] #146 Add constraint::CartesianVelocityNorm
[cpp] #158 Add Seidel solver.
[cpp] Enhance Seidel solver numerical behaviour.
[cpp] [#161] Enable to construct spline from 1st and 2nd order derivatives at the curve endpoints

[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.

Major release! Implement TOPPRA in C++ and several improvements to Python codebase.

[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.