toppra: Time-Optimal Path Parameterization
toppra is a library for computing the time-optimal path parametrization for robots subject to kinematic and dynamic constraints. In general, given the inputs:
toppra returns the time-optimal path parameterization:
s_dot (s), from which the fastest trajectory
q(t) that satisfies the
given constraints can be found.
Documentation and tutorials are available here.
You can install the package with pip:
pip install toppra
To install from source for development:
pip install -r requirement3.txt pip install -e .
Please report any issues, questions or feature request via Github issues tracker.
Have a quick question? Try asking in our slack channel.
Pull Requests are welcome! Create a Pull Request and we will review your proposal!
If you have taken part in developing and supporting the library, feel free to add your name to the list.
The development is also generously supported by Eureka Robotics.
If you use this library for your research, we encourage you to