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@stephane-caron stephane-caron released this 09 May 07:21
· 279 commits to master since this release
v1.0
00e4443

This is the first official release of TOPP, the Time-Optimal Path Parameterization library. TOPP finds feasible time-parameterization of robots' trajectories subject to kinodynamic constraints. This version supports:

  • velocity and acceleration limits (KinematicLimits)
  • actuator torque limits (TorqueLimitsRave)
  • general quadratic kinodynamic constraints (QuadraticConstraints, see http://arxiv.org/abs/1312.6533)

It can be compiled as a standalone binary or integrated with OpenRAVE (required for torque constraints). See the README for more information.

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