How to contribute

Please follow the guidelines below if you are interested in making contributions to this library:

Open a new issue and describe the bug you want to fix or the feature you want to implement (see the TODO list below for ideas) so it can be assigned to you
Fork the repository and make a new branch where updates will be added
Have descriptive commit messages especially if the API is affected, and check your commits to make sure it compiles and runs
Include tests for new features or significant changes
Push commits to your fork and make a pull request

TODO List

More or less in order of priority

Update to latest GTSAM version
Support Python 3.x
Load environments from urdf/xml style formats to construct signed distance fields
Load robot urdf/xml files and construct forward kinematics for them automatically
Simple visualizer for environment, robot, trajectory, etc on the python wrapper side
Alternate obstacle cost functions like, barrier function