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TOPP stands for Time-Optimal Path Parameterization. Specifically, given a trajectory as input, TOPP will find the time-reparameterization of that trajectory subject to given constraints.

The standalone version of TOPP supports constraints that consist of velocity and acceleration limits (KinematicLimits) or general kinodynamic constraints (QuadraticConstraints). The full version of TOPP requires OpenRAVE and provides support for torque limits (TorqueLimitsRave) and integration with OpenRAVE planning tools.

Quick examples

Tutorial : how to create a new constraint type in C++

Reference manual