Hung Pham (Phạm Tiến Hùng)

I have the same issue. The log file contains this error ``` Sun Jan 15 13:18:20 2023 - code-review--build-buffer - (wrong-type-argument number-or-marker-p nil) ```

Hi, you can try using `Interpolation` discretization scheme.

See https://hungpham2511.github.io/toppra/python_api.html?highlight=collocation#toppra.constraint.DiscretizationType.Interpolation

Hi, thanks for the PR. Let me get back to you real soon.

> Hi @hungpham2511, this pr is ready for review. Hey thanks! Let us look into this.

@lakshmip001 It is possible with TOPP-RA. You will need to have a way to evaluate the Cartesian velocity and acceleration of the point of interest given any joint position and...

> When we design online window planning function based on TOPP, vs and ve not equal to 0. But in the function of computeForwardPass(), m_data.parametrization(0) = vel_start is error, We...

Can you try with the "Interpolation" discretization scheme? This should be the default behavior on latest develop.

Hi you shouldn't hit this line in most cases. When you do there is most likely an issue. Can you provide more information on when do you have this?

> I retimed the final trajectory from ParabolicSmoother Ah yes, I did have some issue with the ParabolicSmoother before. Do you have a reproducible example?