Release v0.3.0

This release includes

• Python wrapper with utils and examples
• Self collision factor
• Bugfix for theta_bias in Arm.h

Release v0.2.1

This release includes

• Joint limit factors with examples
• Optimizer no increase feature
• More robot models (two arm, w/ mobile base, w/ linear actuator)
• Workspace i.e. end effector position, orientation, and full pose constraint
• Updated documentation and some bugfixes

Release v0.2.0

This release includes several updates from last release, including planning on Lie groups (please refer to Sparse Gaussian Processes for Continuous-Time Trajectory Estimation on Matrix Lie Groups for details), 2D point robot support in Matlab, Windows support, and several improvements and bug fixes. Here's the full list of updates.

• Update installation documentation
• Fix compilation on Windows + Visual Studio 2015
• Fix compilation on Linux + GCC 5.4
• Add saving and loading signed distance field as binary .dat file
• Add Gaussian process prior on Lie group, see details in Arxiv preprint
• Add planar mobile manipulator (SE(2) x Vector(N)) class
• Fix Matlab signed distance field generation error when no obstacle presents
• Fix Matlab wrapper for obstacle factors
• Add planar point robot (Vector(2)) class and plot utils in Matlab

Release v0.1.0

• Initial release