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.
Development roadmap Please check our the Issues tracker.
Please report any issues, questions or feature request via Github issues tracker.
Pull Requests are welcome! Create a Pull Request and we will review your proposal!
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The development is also generously supported by Eureka Robotics.
If you use this library for your research, we encourage you to