https://github.com/hungpham2511/toppra
robotic motion planning library
https://github.com/hungpham2511/toppra
motion-planning robotics robotics-algorithms topp
Last synced: 25 days ago
JSON representation
robotic motion planning library
- Host: GitHub
- URL: https://github.com/hungpham2511/toppra
- Owner: hungpham2511
- License: mit
- Created: 2017-07-19T02:03:19.000Z (over 7 years ago)
- Default Branch: develop
- Last Pushed: 2024-01-15T13:27:09.000Z (about 1 year ago)
- Last Synced: 2024-09-01T05:36:37.295Z (8 months ago)
- Topics: motion-planning, robotics, robotics-algorithms, topp
- Language: Python
- Homepage: https://hungpham2511.github.io/toppra/index.html
- Size: 11.5 MB
- Stars: 609
- Watchers: 25
- Forks: 168
- Open Issues: 33
-
Metadata Files:
- Readme: README.md
- Changelog: HISTORY.md
- Funding: .github/FUNDING.yml
- License: LICENSE
Awesome Lists containing this project
- awesome-robotic-tooling - toppra - A library for computing the time-optimal path parametrization for robots subject to kinematic and dynamic constraints. (Planning and Control / Vector Map)
README
# `toppra`: Time-Optimal Path Parameterization
- [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.