TOPP-RA

Documentation and tutorials are available at (https://toppra.readthedocs.io/en/latest/index.html).

TOPP-RA is a library for computing the time-optimal path parametrization for robots subject to kinematic and dynamic constraints. In general, given the inputs:

1. a geometric path p(s), s in [0, s_end] ;
2. a list of constraints on joint velocity, joint accelerations, tool Cartesian velocity, et cetera.

TOPP-RA returns the time-optimal path parameterization: s_dot (s), from which the fastest trajectory q(t) that satisfies the given constraints can be found.

Citing TOPP-RA

If you use this library for your research, we encourage you to

1. reference the accompanying paper «A new approach to Time-Optimal Path Parameterization based on Reachability Analysis», IEEE Transactions on Robotics, vol. 34(3), pp. 645–659, 2018.
2. put a star on this repository.

Bug reports and supports

Please report any issues, questions via Github issues tracker.

It will be very helpful if you can provide more details on the errors/bugs that you encounter. In fact, the best way is to provide a Minimal Working Example that produces the reported bug and attach it with the issue report.

Contributions

Pull Requests are welcomed! Go ahead and create a Pull Request and we will review your proposal! For new features, or bug fixes, preferably the request should contain unit tests. Note that toppra uses pytest for all tests. Check out the test folder for more details.