Add description in HISTORY.md
## Unreleased
+- [cpp] Replace for loop in piecewise poly path to find index by std::lower_bound.
+
## 0.4.1 (May 06 2021)
### Added
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- [python] Fixed build error for numpy versions <= 1.20
- [cpp] Implement spline parametrizer
## 0.4.0 (Mar 16 2021)
### Added
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- [python] Fixed build error when cython and numpy were not pre-installed
- [python] Fix a bug that prevent user from using the ConstAccelParametrizer
- [python] Allow specifying minimum nb of grid-points during automatic selection
- [cpp] [#161] Enable to construct spline from 1st and 2nd order derivatives at the curve endpoints
### Changed
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- [cpp] [#153] Fix variable mismatch in constraint::CartesianVelocityNorm
### Improved Documentation
## 0.3.1 (Aug 23 2020)
### Added
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- [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.
- [python] [#117] Post-processing is now done via parametrizer classes.
### Changed
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- [python]Add some type annotations to parameterizer.py
- [python]Support older interpolation method.
- [cpp] Minor improvement to PiecewisePolyPath.
- [ci] [#117] Improve CI pipeline to test on several python versions
- [ci] [#139] Automate publish to PyPI server
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## 0.3.0 (May 3 2020)
Major release! Implement TOPPRA in C++ and several improvements to Python codebase.
@@ -84,13 +90,21 @@ Major release! Implement TOPPRA in C++ and several improvements to Python codeba
- Auto-gridpoints feature (#73)
## <0.2.3
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- Many commits and features.
[gh-78]: https://github.com/hungpham2511/toppra/pull/78
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[gh-79]: https://github.com/hungpham2511/toppra/pull/79
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[#117]: https://github.com/hungpham2511/toppra/pull/117
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[#129]: https://github.com/hungpham2511/toppra/pull/129
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[#143]: https://github.com/hungpham2511/toppra/pull/143
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[#146]: https://github.com/hungpham2511/toppra/pull/146
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[#158]: https://github.com/hungpham2511/toppra/pull/158
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[cm-0e022c]: https://github.com/hungpham2511/toppra/commit/0e022c53ab9db473485bd9fb6b8f34a7364efdf8
