Hung Pham (Phạm Tiến Hùng)

> Glad to hear from you. I have accepted your suggestion. Thanks and sorry for the delay.

Tks! Please give us some time to go through the PR.

Interesting, do you still have this problem? A quick google yields this: https://stackoverflow.com/questions/27022373/python3-importerror-no-module-named-ctypes-when-using-value-from-module-mul

Hi @oridong and @xuuyann, you can refer to the CI pipeline here https://github.com/hungpham2511/toppra/blob/ec723091a717373413d5747d6c1e56d57a646fa1/.circleci/config.yml#L24 for what packages to install.

Hi @ndehio, thanks for the contribution. However, I do not suggest this approach for "debugging" because it can be quite limited. For instance, the script that you printed can only...

We have test cases that verify the consistency of the output parametrization between the python and C++ implementation, so that shouldn't be the cause. There is 1 bug in your...

 Both python and cpp code should produce a figure similar to the one above.

@leonardoedgar If you have an implementation, feel free to open a PR!

It is certainly possible. Basically, you need to create a path-dependent acceleration constraint that "tapers" to zero at the beginning and the end of a path.

Do you have any code examples or plots?