Markus Giftthaler

DiscreteTrajectoryBase push_back unsafe

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@jcarius has reported the following: The method `void push_back(const T& data, const SCALAR& time, const bool timeIsAbsolute)` is unsafe in DiscreteTrajectoryBase: if the user specifies `timeIsAbsolute=false`, access to `time_.back()` might...

Include Octave interface

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* include a interface for logging to octave types * since none from the core developer team is currently able to maintain the MATLAB interface, consider removing matlab-related code entirely...

Replace HyA-robot-arm model with a model for a more accessible commercial arm

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The example robot arm model should be replaced by something more convenient to users, i.e. UR10, Franka Panda, etc.

Currently, we only support fixed-size types. In order to simplify the creation of python bindings, we should extend the CT to also support dynamic sizes.

LQOC solver should pass back solver return status to NLOC for better error handling. Especially important for hpipm.

* probably some ill-formulated ASSERT * TODO: investigate and fix.

* Fix base Inverse Kinematics Test currently fails in CI * see also pullrequest #77 * test disabled for now

Some traits are defined in two different places

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First occurrence: ct_core (where it should be!) second occurrence: ct/rbd/internal/ ...