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v0.8.4
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@pantor pantor released this 13 Sep 11:41
v0.8.4
0347d7d

This release includes two exciting new features: First, it extends phase synchronization for straight-line trajectories to the velocity control interface. Second, this release allows to use custom vector types (with support for Eigen types out of the box) for an easier interface to your code without any wrappers.

⚡ Features

  • Extends phase synchronization to the velocity control mode.
  • Introduces custom vector types that can be specified as a template template argument. More information can be found in the Readme section.
  • Built-in support for nlohmann/json based serialization of the trajectory class.
  • Adds a pyproject.toml file for easier setup of the Python module.

🐛 Fixes

  • Fixes trajectory calculations when the current acceleration is on its limit due to an issue with the braking trajectory.
  • Removes -Werror as a default flag to let Ruckig build in case of compiler warnings.

🥇 Sponsors

Thanks to Fuzzy Logic Robotics for sponsoring this release!

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