toppra

toppra: Time-Optimal Path Parameterization

    ![Integrate](https://github.com/hungpham2511/toppra/actions/workflows/integrate.yml/badge.svg)
    
    
    - [Overview](#overview)
    - [Supports](#supports)
    - [Citing `toppra`](#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](https://hungpham2511.github.io/toppra/index.html).
    
    You can install the package with pip:
    
    ``` shell
    pip install toppra
    ```
    
    To install from source for development:
    
    ``` shell
    pip install -r requirement3.txt
    pip install -e .
    ```
    
    # Support
    
    ## Bug tracking
    Please report any issues, questions or feature request via 
    [Github issues tracker](https://github.com/hungpham2511/toppra/issues).
    
    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](https://hungpham2511.github.com/) ([Eureka Robotics](https://eurekarobotics.com/), former [CRI
    Group](https://personal.ntu.edu.sg/cuong/)) and [Phạm Quang Cường](https://personal.ntu.edu.sg/cuong/)
    (Eureka Robotics, CRI Group) with major contributions from talented
    contributors:
    - [Joseph Mirabel](https://github.com/jmirabel) (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](https://eurekarobotics.com/).
    
    # 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](https://www.researchgate.net/publication/318671280_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.