v3.4.2

Update citation metadata

What's Changed

• Update bibtex by @Phylliade in #152
• Update CITATION.cff by @Phylliade in #153
• Update _version.py by @Phylliade in #154

Full Changelog: v3.4.1...v3.4.2

v3.4.1

This is a technical release, with no new features

v3.4

Add support for DH parameters, thanks to https://github.com/Tanneguydv, through #143
And new robot, the Robotis, thanks to https://github.com/zaksadiq, through #148

v3.3.4

Add a new optimizer parameter in Chain.inverse_kinematics to select the optimizer to use:

The optimizer to use. Choices:
* "least_squares": Use scipy.optimize.least_squares (the default) 
* "scalar": Use scipy.optimize.minimize  (the default prior to IKPy 3.3)

v3.3.3

Technical release to add DOI information

v3.3.2

Activate Zenedo DOI

v3.3.1

v3.3.1

• Remove unused optimization_method in IK function
• Official support for Python 3.10

v3.3 - Performance improvements

Release v3.3

The IKPy IK function now uses a new optimizer that improves the performances:

• Less computation time
• More precise computations

v3.2 - Prismatic joints

Add full support for prismatic joints

• type="prismatic" in URDF
• forward kinematics
• bounds
• prismatic joints axes are plotted in dotted lines, where revolute joints are plotted in solid lines

Fixes #96
Fixes #104

Ex on URDF provided by https://github.com/AhmetMericOzcan. The prismatic joint is the dotted one:

When sliding the prismatic joint, we see it moving:

Additional features

• Support for arbitrary joint types in the URDF
• Fixed a bug in URDF parsing where fixed joints could be considered as revolute
• Support for customizable optimization algorithms. Fixes #108

Thanks to https://github.com/Klausstaler and https://github.com/AhmetMericOzcan for the support and resources!

v3.1

v3.1

• Drop Python 2 support
• PEP517 builds
• Support for type hints