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v0.6.0
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@pantor pantor released this 07 Dec 02:06
v0.6.0
90b04bc

This release brings trajectories with intermediate waypoints to the Community Version! Calculation is done on remote servers via this API, so this is only applicable for offline trajectory generation. Furthermore, this release...

⚡ Features

  • Adds a method for filtering intermediate waypoints based on a threshold distance for each DoF. In general, Ruckig prefers as few waypoints as possible, so we recommend to filter the input with a threshold as high as possible.
  • Improves input validation. In particular, Ruckig is now able to guarantee the kinematic state to be below the constraints throughout the trajectory.

🐛 Fixes

  • Fixes trajectories with zero duration.
  • Adds a stability improvement to Step 2 of the algorithm.
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