CHANGELOG

Changelog for package ruckig

Forthcoming

  • [ci] don’t check python for c++11

  • [ci] move gcc-5 to ubuntu 20.04

  • bump version

  • add example for per section minimum duration

  • Budan’s theorem

  • use valid profile iterator in step1

  • add jerk-minimizing profiles in step2

  • fix c++11 patch

  • fix c++11 patch

  • fix patch c++11

  • c++11 fix inplace patching

  • improve support for c++11

  • update pybind11 in ci

  • fix optional in tests with c++11 patch

  • update ci checkout version

  • fix msvc warning in online calculator

  • fix msvc compiler warnings

  • expose calculators

  • bump version

  • performance improvement in step2 vel

  • Contributors: pantor

0.8.4 (2022-09-13)

  • robustify step2 vel uddu

  • fix readme tracking example

  • add tracking interface to readme

  • fix brake duration reset

  • fix brake when current acceleration is on limit

  • improve tracking example

  • fix pyproject.toml

  • clean tracking example

  • clean examples

  • add pyproject file

  • add DOFs to traj serialization

  • nlohmann/json based serialization for trajectory

  • point out Eigen 3.4 or later

  • add custom vector types to readme

  • disable vector types example with online client

  • include deque

  • add examples for custom vector types

  • dont support custom data types with online client

  • add tests and fixes for custom vector type

  • use template specalization without using

  • custom vector type as template template parameter

  • clean error_at_max_duration, add StandardVector

  • clean licenses

  • update header dependencies

  • clean comparison benchmarks

  • extend phase synchronization to velocity control

  • move src to src/ruckig

  • clean gitignore

  • remove -Werror

  • Contributors: pantor

0.7.1 (2022-07-10)

  • bump to 0.7.1

  • fix python 3.10 deployment

  • Merge branch ‘master’ of github.com:pantor/ruckig

  • bump to 0.7.0

  • allow user to force new computation for the same input (#132) * allow user to force computation again Otherwise sending the same target with non-zero min_duration multiple times in a control loop will not trigger a new trajectory. * rename to reset Co-authored-by: pantor <lars.berscheid@online.de>

  • profile precision as constant

  • clean notebooks

  • fix c++11 std::clamp

  • use steady_clock, minor code cleaning of roots.hpp

  • fix numeric for time sync with discrete durations

  • fix independent min duration with brake trajectory

  • clean header includes

  • improve stability of velocity control

  • msvc warnings

  • fix msvc warnings

  • static cast for std::div

  • Merge branch ‘master’ of github.com:pantor/ruckig

  • fix warnings, limiting_dof to std::optional

  • doc: fixed used-by entry (#131)

  • move roots into ruckig namespace

  • refactor tests and benchmarks

  • step2 vel catch root at boundary

  • update benchmark plot

  • add algorithm header, use c++ array

  • make delta_time non const

  • add smoothing of non-limiting dofs

  • const degrees_of_freedom

  • print error messages from online api

  • check that current_input is initialized

  • Contributors: Matthias Seehauser, Michael Görner, pantor

0.6.5 (2022-03-06)

  • revert to manylinux2010_x86_64

  • bump to v0.6.5

  • fix pypi build from source

  • remove 9_trajectory.png

  • use .pdf for example trajectories

  • numerical stability in velocity control

  • fix for zero-to-zero traj with velocity control

  • invalidate discrete duration

  • fix numerical instability in acc0

  • update to nlohmann/json v3.10.5

  • bump to 0.6.4

  • clarify Online API in examples and Readme

  • fix example docs

  • fix ci

  • build waypoints example only for online client

  • add joint example for dynamic dofs and waypoints

  • fix capacity / actual waypoints mismatch

  • disable ros cd

  • retry

  • retry

  • retry

  • debug publish ros

  • Contributors: pantor

0.6.3 (2022-01-21)

  • bump to v0.6.3

  • activaten open_pr for bloom release

  • publish ros on release

  • test bloom ci

  • add bloom release

  • several perf optimizations, step2 stability

  • clear up waypoints in readme

  • fix time sync for discrete durations, rename step1

  • Contributors: pantor

0.6.0 (2021-12-06)

  • fix python upload

  • bump version to 0.6.0

  • filter_intermediate_positions

  • add braces to if function

  • fix error in step 2

  • remove filter positions

  • remote api for intermediate waypoints

  • fix trajectories with zero duration

  • use integrated instead target values after traj

  • use back() instead of explicit number

  • ci build matrix

  • BUILD_ONLINE_CLIENT in python package

  • add brake in online calculator

  • fix ci online-calculator

  • auto ci name

  • add online calculator for intermediate waypoints

  • add httplib and build option

  • create third_party directory

  • update demo notebook

  • update notebook demo

  • add jupyter demo notebook

  • change brief description of calculator

  • expose internal

  • add note to ruckig pro examples

  • clear up section term

  • clean brake class

  • refactor integrate to utils

  • prepare accel phase

  • use dynamic dofs const

  • improve input validation

  • clean up CD

  • Contributors: pantor

0.5.0 (2021-11-14)

  • debug publish

  • publish pypi package on released release

  • bump version

  • add hint for Step 1 None

  • optimize block class

  • improve readme

  • per_section_limits in readme

  • add per_section_limits

  • fix c+11 patch

  • fix per dof synchronization

  • split CMakeLists examples

  • fix per dof synchronization with none

  • separate trajectory and calculator class

  • fix windows build

  • code cleaning

  • intermediate waypoints readme

  • fix number of waypoints

  • avoid pow completely

  • update maintainer

  • simplify readme

  • use brake profile class

  • fix finished trajectory for disabled dofs

  • minor code cleaning

  • Merge branch ‘master’ of github.com:pantor/ruckig

  • add to_string for output parameters (#77)

  • add ref to vel add_profile

  • positional limits

  • min limits for intermediate positions

  • extend phase synchronization

  • performance improvements

  • add section to output in readme

  • pass_to_input, did_section_change

  • fix nullopt with c++11 patch

  • fix nullopt in c++11 patch

  • fix c++11

  • per dof control interface and synchronization #53

  • add section index to output

  • Notes about Intermediate Waypoints

  • interrupt calculation duration in microseconds

  • add ruckig pro examples

  • add ruckig toppra comparison

  • improve readme and examples

  • introduce Ruckig Pro

  • remove generate docs ci

  • link docs to ruckig.com

  • add examples doc pages

  • fix example names

  • add more examples

  • Instantaneous Motion Generation

  • add calculation interruption

  • add doxyfile again

  • step1: numeric stability

  • Contributors: Lars Berscheid, lpdon, pantor

0.4.0 (2021-08-23)

  • update version to 0.4

  • code cleaning

  • add was_calculation_interrupted

  • step 1: performance optimizations

  • interrupt_calculation_duration

  • Add CITATION.cff file (#63) * add CITATION.cff * CITATOION wip * fix cite

  • Update README.md

  • update to doctest 2.4.6

  • code cleaning

  • performance optimizations

  • step 2: performance optimization

  • step 2: performance optimization

  • performance optimization: step 1

  • performance optimization: positive set of roots

  • performance optimization in step1

  • code cleaning

  • set find_package reflexxes to quiet

  • remove BSD license text, why was it there anyway?

  • clean plot trajectory

  • add printing intermediate_positions

  • code cleaning

  • add degrees_of_freedom to python trajectory

  • rename interface to control_interface

  • set_limits for ACC1, code cleaning

  • improve numeric stability

  • in vel interface, change acc threshold

  • code cleanup

  • add DynamicDOFs constant

  • numerical stability of velocity interface

  • improve numerical stability

  • fix variable name redeclaration

  • fix jerk violation in step2, some optimizations

  • clean up check methods of profile

  • fix min_velocity with phas e synchronization

  • fix phase synchronization in python

  • improve numerical stability for high jerks

  • fix newton step in acc0/acc1 for t=0

  • clean up plot_trajectory

  • validate for isnan

  • fix python path in examples

  • fix position extrema for dynamic number of dofs

  • Added python example for non-realtime context (#43) * added python example for non-realtime context * fixed ci workflow * need to reset t_start * rename * change example Co-authored-by: Max Dhom <md@adva.store> Co-authored-by: Lars Berscheid <lars.berscheid@kit.edu>

  • Dynamic Dofs (#47) * vectorize * use vector for dof==0 * add tests and checks * include vector * default dofs = 0, fix reflexxes * redo default dofs template parameter * add readme * improve readme * fix grammar

  • add tests for invalid input

  • add offline trajectory generation

  • add paren to get time at position

  • add get_first_time_at_position method

  • Contributors: Lars Berscheid, Mathis, Max Dhom, pantor

0.3.3 (2021-06-25)

  • Merge branch ‘master’ of github.com:pantor/ruckig

  • version 0.3.3

  • Set CMAKE_OUTPUT_DIRECTORY for windows build (#41) * check windows * add library * add debug log * try to fix * try to fix2 * try to fix 3 * try to fix 4 * fix 5 * rest test number * fix setup.py * remove log

  • hard-code build directory of python library

  • fix windows packge, version 0.3.2

  • pre-compiled packages for windows on pypi

  • Contributors: Lars Berscheid, pantor

0.3.1 (2021-06-24)

  • set version 0.3.1

  • add manifest.in

  • double newton step in step2 vel udud

  • Fix windows python package (#38) * fix windows

  • update benchmark figure

  • c++11 dont treat warnings as errors

  • fix three step

  • performance improvements

  • vectorize dof

  • Fix Patch for C++11 (#36) * add ci for c++11 * remove maybe_unused * patch in-place * fix c++11 * replace make_unique * find error in ci * try to fix gcc-5 * dont build python * dont patch cpp files * deactivate cmake flags in patch script * test python example

  • add C++11 patch in readme

  • add patch script for C++11

  • Contributors: Lars Berscheid, pantor

0.3.0 (2021-06-16)

  • update version number

  • add python at_time comment for doxygen

  • check for v_min, fix directional tests

  • python return at_time method

  • fix max target acceleration

  • fix and test extremal positions

  • synchronize function to trajectory class

  • fix max target acceleration when min_velocity

  • clean up docs

  • fixed bug in check_position_extremum (#33) * fixed copy & paste error in Trajectory::is_phase_synchronizable * fixed obvious copy & paste error in check_position_extremum

  • fixed copy & paste error in Trajectory::is_phase_synchronizable (#32)

  • fix negative, near zero pd cases

  • Update README.md

  • Update README.md

  • Update README.md

  • check limits with equal sign for numeric stability

  • copy jerk_signs for phase synchronization

  • remove alternative otgs

  • add citation and link to paper

  • remove alternative otgs from python

  • fix numerical issues on time-optimal traj

  • Merge branch ‘master’ of github.com:pantor/ruckig

  • fix numeric error for long durations

  • Scale to 5e9 random trajectories

  • fix numerical issues

  • add step through tests

  • fix for braking

  • double newton step

  • fix macos and windows build

  • recalculate after error

  • fix some numerical issues

  • use checkout@v2 in ci

  • use ARCHIVE_OUTPUT_NAME for python wrapper

  • msvc: warning as errors

  • fix msvc compiler warnings

  • Update README.md

  • Update README.md

  • Fix BUILD_PYTHON_MODULE option on Windows/MSVC (#18)

  • fix ci args

  • add phase synchronization

  • set boundary method

  • simplify python example

  • Add pip install to Readme

  • Contributors: Lars Berscheid, Silvio Traversaro, pantor, stefanbesler

0.2.6 (2021-03-29)

  • remove env

  • fix python cd

  • use static library

  • test python executable

  • fix python package

  • python cd: fix windows

  • add setup.py, version 0.2.1

  • rename python module to ruckig

  • generate python classes for multiple dof

  • Add a ROS package manifest (#10) Enables building Ruckig as a plain CMake package in a Catkin/Colcon workspace.

  • fix end of brake trajectory integration

  • Include GNU install dirs earlier (#11) Otherwise ‘CMAKE_INSTALL_INCLUDEDIR’ is empty/undefined when it’s used to setup ruckig::ruckig’s target_include_directories(..).

  • readme: some minor typos (#9) I happened to notice them.

  • privatize trajectory class members

  • privatize some class members

  • use cmath

  • code cleaning

  • show enum in docs

  • split parameter files, calculate in trajectory

  • code cleaning

  • add python example

  • Move options to API documentation

  • Fix Readme Code

  • fix undefined output for zero duration

  • indicate default values in Readme

  • add discrete durations

  • Add Windows and macOS build to CI (#4) * windows and mac ci * use cmake action for generator * fix ci build directory * run tests only on linux * test example

  • Add support to compile on Windows (#3)

  • Merge pull request #2 from traversaro/patch-1 Use BUILD_SHARED_LIBS to select if compile C++ library as static or shared

  • document examples/CMakeLists.txt

  • add ci to PRs

  • Use BUILD_SHARED_LIBS to select if compile as static or shared

  • Merge pull request #1 from traversaro/add-install-support Add support for installation of the C++ library

  • Add support for installation of the C++ library

  • set correct cmake and doxygen version

  • fix more edge cases

  • fix some edge cases

  • document velocity interface

  • added velocity interface

  • improve readme

  • improve benchmark

  • fix finding subdirectory

  • check ci

  • build python module in ci

  • use own set class on stack

  • fix synchronization enum, better python support

  • add time synchronization parameter

  • fix motion finished reset

  • fix immediate reaction

  • fix more edge cases

  • refine min acceleration

  • add min_acceleration

  • fix some edge cases

  • Merge branch ‘master’ of github.com:pantor/ruckig

  • decrease required cmake to 3.10

  • fix ci

  • introduce trajectory class

  • position extrema

  • scale tests to 1e9

  • several optimizations

  • compile with warnings

  • step2: code cleaning

  • fix numeric edge cases

  • move test suite to doctest

  • fix cmake as submodule

  • Merge branch ‘master’ of github.com:pantor/ruckig

  • fix optional minimum time

  • code documentation, more tests

  • fix benchmark

  • build benchmark in ci

  • fix gcc

  • remove eigen dep in cmake

  • code cleaning

  • code cleaning

  • add comparison with multiple DoF

  • rix ci: braking

  • fix interval selection

  • clean braking

  • fix ci, more tests

  • add benchmark, numeric stability

  • fix block in step1

  • clean root finding

  • Increase stability

  • improve tests, remove eigen

  • code style

  • increase test coverage

  • add min_velocity

  • fix ci

  • Step1: Use Newton step

  • fix ci

  • fix time sync

  • update tests

  • more tests

  • add example

  • more tests

  • increase number of tests

  • simplify equations

  • simplify equations

  • simplify equations

  • add tuple header

  • further code cleaning

  • remove eigen dependency, code cleaning

  • clean brake code

  • code cleaning

  • code cleaning

  • add doxygen

  • improve acceleration target, readme

  • refine max time deviation to 1e-8

  • code cleaning

  • improve time sync

  • block synchronization

  • stability for target acceleration in 1 dof

  • update readme for ruckig

  • add license

  • improve tests

  • fix eigen ci folder name

  • fix eigen git repository

  • fix 1dof vf comparison

  • remove complex algorithmic

  • code cleaning

  • initial commit

  • Contributors: G.A. vd. Hoorn, Lars Berscheid, Silvio Traversaro, pantor