Ruckig

What's Changed

General

From now on the binaries of releases are published on [Twinpack](https://github.com/Zeugwerk/Twinpack) instead of on GitHub.
However, it is still possible to get the latest version in [GitHub Actions](https://github.com/stefanbesler/struckig/actions).

Features

- feat: added specialization for AtTime for DoF=1

**Full Changelog:** [v0.9.0...v0.9.3](https://github.com/stefanbesler/struckig/compare/v0.9.0..v0.9.3)

This patch release improves the general performance of Ruckig.

⚡️ Features
- Improvement of the calculation performance by up to 10%.
- Added support for Python 3.11, including pre-built packages for PyPI.

🐛 Fixes
- Fixed several minor issues with C++11 support via the patch.
- Fixed several MSVC Warnings in the OnlineCalculator class.

Changes

- feat: Improvement of the calculation performance by up to 10%.
- feat: Several projects use Struckig with only 1 degree of freedom. Added a new function block (Struckig.Otg1) to simplify the API of this usecase.

Changes

- feat: Extended phase synchronization for straight-line trajectories to the velocity control interface.
- fix: Fixed trajectory calculations when the current acceleration is on its limit due to an issue with the braking trajectory.

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](https://eigen.tuxfamily.org) 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](https://github.com/pantor/ruckig#custom-vector-types).
- Built-in support for [nlohmann/json](https://github.com/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

<a href="https://www.flr.io">
<img src="https://user-images.githubusercontent.com/1885260/189889016-3656dd9b-1ffd-49da-a8ab-952a5a82bd9e.png" width="250">
</a>

Thanks to [Fuzzy Logic Robotics](https://www.flr.io) for sponsoring this release!

With this release, Ruckig allows using a variable control rate!

⚡ Features
- Makes `delta_time` non-constant.
- Allows to reset `Ruckig` and therefore force a new trajectory computation (132).

🐛 Fixes
- Improves the stability of the velocity control as well as the discrete duration mode (e.g. 116).
- Fixes `independent_min_duration` in case of a brake trajectory (128).
- Fixes a rare issue where the first update does not calculate a trajectory (115).
- Fixes warnings for MSVC (e.g. 127, 133).