toppra

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Allow setting N=0 to select gridpoints automatically

4

Changes in this PRs: - Implement an algorithm to choose gridpoint automatically - Integrate to TOPPRA with N=0 Checklists: - [ ] Update HISTORY.md with a single line describing this...

hungpham2511

Toppra does not respect acceleration limits (in C++)

9

**Describe the bug** I am running toppra on a 10 DoF robot with acceleration and velocity limits in C++, however, toppra is not respecting the acceleration limits. To see the...

jess-moss

pip install . error

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Defaulting to user installation because normal site-packages is not writeable Looking in indexes: https://pypi.tuna.tsinghua.edu.cn/simple Processing /home/hrg/toppra Installing build dependencies ... done Getting requirements to build wheel ... done ERROR: Exception:...

xuuyann

Initial and Final Velocities for individual axis

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Hello, while compute_parameterization accepts sd_start and sd_end, this seems to be a single number across all axis in the optimization. Is it possible to have something like [0,1,2] and [3,4,5],...

JadTawil-theonly

[CPP] Construct piecewise poly from boundary conditions (first derivatives at curve endpoints)

5

Hi. I am trying to find a way to construct a 3rd order piecewise-polynomial / cubic spline by specifying first-derivatives at the endpoints of the curve in cpp. I found...

leonardoedgar

install C++ API, which openrobot pkg

6

if install C++ API, which openrobot pkg should be installed . because I see " /opt/openrobots/lib" is needed, after all there so many pkd on http://robotpkg.openrobots.org/robotpkg/robots/index.html

oridong

It would be useful to have visibility on how points in the source path are remapped into the retimed path, for the purpose of path debugging. For example, let's say...

stevegolton

Build cpp doc on readthedocs with sphinx

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TODOs: - [ ] Create a simple example for the C++ API online.

hungpham2511

sdotdot not equal to zero at start and end of trajectory?

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I used the C++ API and found the second derivative of the path parameter is not equal to zero at the start and end of the computed trajectory which is...

yakunsjtu

Very small path velocity detected. Probably a numerical error occured

5

**Describe the bug** `Parametrizer::validate()` return false in my test **To Reproduce** [test_toppra_approach2.txt](https://github.com/hungpham2511/toppra/files/7331947/test_toppra_approach2.txt) **Expected behavior** A clear and concise description of what you expected to happen. **Screenshots** If applicable, add screenshots...

oPiZiL