TOPP

TOPP FOR RIGID-BODY MOTIONS

H. Nguyen, Q.-C. Pham. Time-optimal path parameterization of rigid-body motions: applications to spacecraft reorientation. Journal of Guidance, Control, and Dynamics, vol. 39(7), pp. 1665-1669, 2016

TOPP

Pham Q C. A general, fast, and robust implementation of the time-optimal path parameterization algorithm[J]. IEEE Transactions on Robotics, 2014, 30(6): 1533-1540.

容许速度传播

Pham Q C, Caron S, Lertkultanon P, et al. Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots[J]. The International Journal of Robotics Research, 2017, 36(1): 44-67.

例子

请从tests/文件夹或复制粘贴测试用例中尝试测试文件

文档、教程……

参见wiki

MoveIt! Time Optimal Path Parameterization

TOPP-RA

文档和教程

Pham H, Pham Q C. A new approach to time-optimal path parameterization based on reachability analysis[J]. IEEE Transactions on Robotics, 2018, 34(3): 645-659.