# `toppra`: Time-Optimal Path Parameterization
![Integrate](https://github.com/hungpham2511/toppra/actions/workflows/integrate.yml/badge.svg)


- [Overview](#overview)
- [Support](#support)
- [Citing `toppra`](#citing--toppra-)


# Overview

> [!NOTE]
> **Python support for the library will be dropped. Consider using the C++ version with bindings instead.**

**toppra** is a library for computing the time-optimal path
parametrization for robots subject to kinematic and dynamic
constraints.  In general, given the inputs:

1. a geometric path `p(s)`, `s` in `[0, s_end]`;
2. a list of constraints on joint velocity, joint accelerations, tool
   Cartesian velocity, et cetera.

**toppra** returns the time-optimal path parameterization: `s_dot
(s)`, from which the fastest trajectory `q(t)` that satisfies the
given constraints can be found.

**Documentation and tutorials** are available
[here](https://hungpham2511.github.io/toppra/index.html).

You can install the package with pip:

``` shell
pip install toppra
```

To install from source for development:

``` shell
pip install -e python
```

# Support

## Bug tracking
Please report any issues, questions or feature request via 
[Github issues tracker](https://github.com/hungpham2511/toppra/issues).

Have a quick question? Try asking in our slack channel.

## Contributions
Pull Requests are welcome! Create a Pull Request and we will review
your proposal!

# Credits

`toppra` was originally developed by [Hung
Pham](https://hungpham2511.github.com/) ([Eureka Robotics](https://eurekarobotics.com/), former [CRI
Group](https://personal.ntu.edu.sg/cuong/)) and [Phạm Quang Cường](https://personal.ntu.edu.sg/cuong/)
(Eureka Robotics, CRI Group) with major contributions from talented
contributors:
- [Joseph Mirabel](https://github.com/jmirabel) (C++ API)
- EdsterG (Python3 support).
- [Sebastian Castro](https://github.com/sea-bass) (ROS support and maintenance)

If you have taken part in developing and supporting the library, feel
free to add your name to the list.

The development is also generously supported by [Eureka Robotics](https://eurekarobotics.com/).

# Citing toppra
If you use this library for your research, we encourage you to 

1. reference the accompanying paper [A new approach to Time-Optimal Path Parameterization based on Reachability Analysis](https://www.researchgate.net/publication/318671280_A_New_Approach_to_Time-Optimal_Path_Parameterization_Based_on_Reachability_Analysis),
   *IEEE Transactions on Robotics*, vol. 34(3), pp. 645-659, 2018.
2. put a star on this repository.