v0.5.0

This release introduces the pass_to_input method of the OutputParameter class: We recommend to change the following usage in your code from

while (ruckig.update(input, output) == Result::Working) {
  // Make use of the new state here!

  input.current_position = output.new_position;
  input.current_velocity = output.new_velocity;
  input.current_acceleration = output.new_acceleration;
}

to

while (ruckig.update(input, output) == Result::Working) {
  // Make use of the new state here!

  output.pass_to_input(input);
}

While the old style works fine for now, it is now depreciated to support additional features coming in future releases. Moreover, this release includes:

⚡ Features

• Introduces the option to set the synchronization and control interface for each degree of freedom separately.
• An overall performance improvement of around 15%.
• Reduced the memory footprint of the Trajectory class by an order of magnitude.

🐛 Fixes

• Fixed a jump in the position output after a finished trajectory for disabled degrees of freedom.

🔬 Misc

• Added a to_string method for printing the OutputParameter class (#77).