toppra: Time-Optimal Path Parameterization

• Overview
• Supports
• Citing toppra

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.

Have a quick question? Try asking in our slack channel.

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:

• Joseph Mirabel (C++ API)
• EdsterG (Python3 support).

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.

More install instructions

qpOASES by following the steps below:

git clone https://github.com/hungpham2511/qpOASES
cd qpOASES

Note: On a Mac, am additional step is required:

Remove this line from interfaces/python/setup.py:

extra_params['extra_link_args'] = ["-Wl,-O1", "-Wl,--as-needed"]

Install:

mkdir bin && make
cd interfaces/python/
pip install cython
python setup.py install --user

Finally, install toppra with

git clone https://github.com/DexaiRobotics/toppra.git
cd toppra/
pip install -r requirements.txt --user
python setup.py install --user

And you are good to go. If you have openrave installed on your computer, you can run the below example to see toppra in action.