[cpp] Update Python Bindings + fix numerical issues.

hungpham2511 / toppra

robotic motion planning library

https://hungpham2511.github.io/toppra/index.html

MIT License

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[cpp] Update Python Bindings + fix numerical issues. #116

Closed jmirabel closed 4 years ago

jmirabel commented 4 years ago

Fixes #112 (together with #111 and #115)

Changes in this PRs:

Update the Python bindings.
Fix numerical issues.
Fix bug with interpolation discretisation scheme.
Provide a script that check that C++ and Python implementation returns the same output.

Checklists:

[x] Update CHANGELOG.md with a single line describing this PR

jmirabel commented 4 years ago

Should be merged before #114

hungpham2511 commented 4 years ago

I am ok with having boost.Python as an optional dependency. In fact, since pinocchio seems to be very nice, I might start to use it instead of openrave for kinematics/dynamics related computation as well.

jmirabel commented 4 years ago

From my side, this is ready.

hungpham2511 commented 4 years ago

Great! Many thanks.