TOPP 算法研究

1）https://github.com/ros-planning/moveit/issues/160

As a side note, the algorithm described in "Time-Optimal Trajectory Generation for Path
Following with Bounded Acceleration and Velocity" by Tobias Kunz and Mike Stilman is available as C++ code at https://github.com/tobiaskunz/trajectories. It has no dependencies except Eigen and is thus very easy to integrate. I used it as alternative to IPTP and was very content with computation time and resulting trajectories.

2）https://docs.scipy.org/doc/scipy/reference/generated/scipy.interpolate.bisplrep.html#scipy.interpolate.bisplrep

B样条