Awesome Open Source
Awesome Open Source
Sponsorship

toppra: Time-Optimal Path Parameterization

CircleCI Coverage Status Documentation Status

Overview

toppra 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.

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.

Development roadmap Please check our the Issues tracker.

Support

Bug tracking

Please report any issues, questions or feature request via Github issues tracker.

Contributions

Pull Requests are welcome! Create a Pull Request and we will review your proposal!

Credits

toppra was originally developed by Hung Pham (Eureka Robotics, former CRI Group) and Phạm Quang Cường (Eureka Robotics, CRI Group) with major contributions from talented contributors:

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.

Citing toppra

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.

Get A Weekly Email With Trending Projects For These Topics
No Spam. Unsubscribe easily at any time.
python (48,505
robotics (283
motion-planning (31

Find Open Source By Browsing 7,000 Topics Across 59 Categories