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Changelog

0.6.2 (Sept 19 2023)

Changed

  • [cpp]: warn when solver fails. (#241)

0.6.1

Changed

  • [cpp]: fix numerical issue in Seidel solver for 1D problems. (#232)

0.6.0 (Mar 08 2023)

Added

  • [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.

Changed

  • fix: the f-string bug when hot_qpoases solver failed (#208)
  • feat(solver): Make seidel solver(cython) solves 1D LP when possible (#223)
  • feat(cpp,constraint): Make Interpolation the default method (#225)
  • fix(util): toppra.compute_trajectory() does not return aux data. (#224)

0.5.2 (Nov 19 2022)

  • [cpp] always define all installed symbols.

0.5.0 (July 08 2021)

  • [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

0.4.2 (Aug 08 2021)

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

0.4.1 (May 06 2021)

Added

  • [python] Fixed build error for numpy versions <= 1.20
  • [cpp] Implement spline parametrizer

0.4.0 (Mar 16 2021)

Added

  • [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

Changed

  • [cpp] [#153] Fix variable mismatch in constraint::CartesianVelocityNorm

Improved Documentation

  • Switch to furo theme for better readability.

0.3.1 (Aug 23 2020)

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

0.3.0 (May 3 2020)

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

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 Update README.md to reflect development roadmap.
  • [python] Format some source files with black.
  • [python] #78 Improve documentation structure.
  • [python] #79 Improve documentation structure.

Removed

  • Dropping support for Python2.7. Adding type annotation compatible to Python 3.

0.2.3 (Jan 25 2020)

  • Auto-gridpoints feature (#73)

<0.2.3

  • Many commits and features.