toppra

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While compiling the project in VS Studio 2022 I get following error: `error C2440: 'initializing': cannot convert from 'initializer list' to 'toppra::BoundaryCond'` ``` 5>C:\Users\Default\git\ToppRaMinimal\toppra\toppra\cpp\tests\test_cubic_spline.cpp(79,18): error C2440: 'initializing': cannot convert from...

maxpla3

While using the trajectory generated by toppra as the input of a robot arm, I found the acceleration is not zero at the start and end of the trajectory, which...

lijianbetter

Bumps [scipy](https://github.com/scipy/scipy) from 0.18.0 to 1.10.0. Release notes Sourced from scipy's releases. SciPy 1.10.0 Release Notes SciPy 1.10.0 is the culmination of 6 months of hard work. It contains many...

dependabot[bot]

Can you help me check if my dynamic constraints are correct？

4

I use Pinocchio to compute inverse dynamic of UR5 robot. My code is as follows. import toppra as ta import toppra.constraint as constraint import toppra.algorithm as algo import numpy as...

littlefiveRobot

when vs and ve not equal to 0, computeForwardPass() maybe have some problem.

1

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 should...

ZhengyangZhang-brian

**Is your feature request related to a problem? Please describe.** I wish I can get the Jerk of the AbstractGeometricPath **Describe the solution you'd like** ```python instance = algo.TOPPRA([pc_vel, pc_acc],...

chibai

parametrizer->dof() returns undefined value

1

Calling parametrizer->dof() returns undefined value. ``` GeometricPathPtr geo_path = std::make_shared(path); LinearConstraintPtrs lin_constr = FromConstraints(constraints); algorithm::TOPPRA toppra_algo = algorithm::TOPPRA(lin_constr, geo_path); int dof_test_1 = geo_path->dof(); // yields 4 toppra_algo.computePathParametrization(0, 0); const Vector&...

maxpla3

**Describe the bug** Based on the [description](https://github.com/hungpham2511/toppra/blob/35f8c7d/cpp/src/toppra/parametrizer/const_accel.cpp#L43-L47), the function should find `k_grid` s.t `m_ts[k_grid]

TungYiLai

Question on Spline Parametrizer

3

Hi, on this line, may I know why the magic number 5 is used? https://github.com/hungpham2511/toppra/blob/f8c55e376e40e3f2d5eac0b75d6b82603fe74be6/toppra/parametrizer.py#L181 I understand that delta_t will be set to that value when sdot is very small...

leonardoedgar

[CPP] Question on TOPP-RA Forward Pass

7

Hi, may I know what are the possible issues that may lead to this failure? https://github.com/hungpham2511/toppra/blob/f8c55e376e40e3f2d5eac0b75d6b82603fe74be6/cpp/src/toppra/algorithm/toppra.cpp#L30 From what I understand from the paper, once the backward pass is finished, and...

leonardoedgar