Movement-primitives

Feature

* Add smooth adaptation to new goals introduced by Pastor

Documentation

* Switch to Sphinx documentation

Testing

* Increase code coverage from 89% to 94%

Performance

* Fast stepwise DMP execution

Bugfixes

* Fix numerical error in Cartesian DMP open loop execution (behavior is similar to other DMP types now)
* Make execution_time of DMPs adaptable

Remove dependency on non-public library

Features

* Add MinimumJerkTrajectory
* Introduce `WeightParametersMixin` for DMPs that provides the additional property `n_weights`

First working PyPI release

Improvements in

* documentation
* speed of Cython implementations