Merge pull request #125 from Phylliade/release/v3.3.1

IK: Remove unused optimization_method parameter

Author: Phylliade

.github/workflows/ci.yml

@@ -26,7 +26,8 @@ jobs:
     strategy:
       max-parallel: 4
       matrix:
-        python-version: [3.6, 3.7, 3.8, 3.9]
+        # Note: We need to quote '3.10' otherwise it's interpreted as as number, e.g. 3.1
+        python-version: [3.6, 3.7, 3.8, 3.9, '3.10']
     steps:
       - uses: actions/checkout@v1
         name: "Checkout branch"

src/ikpy/_version.py

@@ -1 +1 @@
-__version__ = '3.3'
+__version__ = '3.3.1'

src/ikpy/inverse_kinematics.py

@@ -7,9 +7,9 @@
 ORIENTATION_COEFF = 1.
 
 
-def inverse_kinematic_optimization(chain, target_frame, starting_nodes_angles, regularization_parameter=None, max_iter=None, orientation_mode=None, no_position=False, optimization_method='L-BFGS-B'):
+def inverse_kinematic_optimization(chain, target_frame, starting_nodes_angles, regularization_parameter=None, max_iter=None, orientation_mode=None, no_position=False):
     """
-    Computes the inverse kinematic on the specified target with an optimization method
+    Computes the inverse kinematic on the specified target
 
     Parameters
     ----------
@@ -32,8 +32,6 @@ def inverse_kinematic_optimization(chain, target_frame, starting_nodes_angles, r
         * "all": Target the three axes
     no_position: bool
         Do not optimize against position
-    optimization_method: str
-        Optimization method to use. Defaults to 'L-BFGS-B'
     """
     # Begin with the position
     target = target_frame[:3, -1]