Toppra

Added
- [docs] Use example gallery to show examples.
- [cpp] Implement serialization/deserialization for piecewise poly trajectory.
- [cpp] Provide Python bindings for PiecewisePolyPath, TOPPRA and constraint classes.
- [cpp] Construct piecewise poly as a hermite spline.
- [cpp] Add varying joint velocity limits.
- [python] [117] Provide an option to allow Python 2.7 usage
- [python] [117] Post-processing is now done via parametrizer classes.

Changed
- [python]Add some type annotations to parameterizer.py
- [python]Support older interpolation method.
- [cpp] Minor improvement to PiecewisePolyPath.
- [python] Implement `ParametrizeConstAccel` to allow reparametrize path.
- [python] Parametrization output accessible via ParameterizationData class.
- [python] Remove useless `scaling` in parameter computation.
- [cpp] Clamp velocities to be within controllable sets.
- [ci] [117] Improve CI pipeline to test on several python versions
- [ci] [139] Automate publish to PyPI server

Major release! Implement TOPPRA in C++ and several improvements to Python codebase.

Added

- [cpp] Add solver wrapper based on GLPK.
- [cpp] Initial cpp TOPPRA implementation: compute parametrization, feasible sets, qpOASES solver wrapper.
- [python] Implement a new trajectory class for specified velocities.

Changed

- [python] Improve documentation for `toppra.constraint`
- [python] 98: Eliminate use of deprecated method.
- [cpp] Bug fixes in solver wrapper.
- [python] Simplify TOPPRA class interface.
- [python] [0e022c][cm-0e022c] Update README.md to reflect development roadmap.
- [python] Format some source files with black.
- [python] [78][gh-78] Improve documentation structure.
- [python] [79][gh-79] Improve documentation structure.

Removed

- Dropping support for Python2.7. Adding type annotation compatible to Python 3.

- Many commits and features.

[gh-78]: https://github.com/hungpham2511/toppra/pull/78
[gh-79]: https://github.com/hungpham2511/toppra/pull/79
[117]: https://github.com/hungpham2511/toppra/pull/117
[129]: https://github.com/hungpham2511/toppra/pull/129
[143]: https://github.com/hungpham2511/toppra/pull/143
[146]: https://github.com/hungpham2511/toppra/pull/146
[158]: https://github.com/hungpham2511/toppra/pull/158
[cm-0e022c]: https://github.com/hungpham2511/toppra/commit/0e022c53ab9db473485bd9fb6b8f34a7364efdf8