Description

This is a C++ implementation of the TOPP-RA algorithm.

Building

# clone
git clone -b develop https://github.com/hungpham2511/toppra

# build
mkdir -p cpp/build && cd cpp/build
cmake ..
make -j4

# run test
./tests/all_tests

Running test with pinocchio

pinocchio is used in toppra to calculate kinematical quantities such as end-effector pose jacobians, required for task-space velocity consraint.

Install pinocchio bindings (see below) and example from robotpkg, then setup environment variables before building

# Building
export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
export CMAKE_PREFIX_PATH=/opt/openrobots

Add -DBUILD_WITH_PINOCCHIO=ON to the cmake command.

To run the tests

# Running
export ROS_PACKAGE_PATH=/opt/openrobots/share
export PYTHONPATH=/opt/openrobots/lib/python3.6/site-packages:$PYTHONPATH
# or any python version that you install

How to install optional dependencies:

• GLPK: sudo apt install libglpk-dev
• qpOASES: sudo apt install robotpkg-qpoases (follow http://robotpkg.openrobots.org/debian.html for robotpkg)
• pinocchio: sudo apt install robotpkg-pinocchio (follow http://robotpkg.openrobots.org/debian.html for robotpkg)

Building Python bindings

We use pybind11 to provide the bindings. To build the bindings you need to first install pybind11 version 2.5.0.

cd ~/ && git clone https://github.com/pybind/pybind11
cd pybind11 && git checkout v2.5.0
mkdir build && cd build && cmake -DPYBIND11_TEST=false .. && sudo make install

Build toppra with Python bindings and all optional dependencies:

cmake -DBUILD_WITH_PINOCCHIO=ON -DBUILD_WITH_qpOASES=ON -DBUILD_WITH_GLPK=ON -DPYTHON_BINDINGS=ON -DPYBIND11_PYTHON_VERSION=3.7 ..
make

Running this step shall build the shared library libtoppra.so and create a CPython module at toppra/cpp/ that linked to this shared library.

Issues during build

/usr/local/include/pybind11/detail/common.h:112:10: fatal error: Python.h: No such file or directory
 #include <Python.h>
          ^~~~~~~~~~
compilation terminated.

This is because during compilation, pybind11 can not find the Python header files. Check that you have libpython-dev or libpython3-dev installed and whether the correct Python executable is found during cmake step. You should see something similar to below:

-- Found PythonInterp: /usr/bin/python3.7 (found suitable version "3.7.4", minimum required is "3.7")
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.7m.so
-- Found /usr/include/python3.7m /usr/bin/python3.7

If this error persists, try give more hint to CMake FindPython module by adding these flags to the cmake command:

-DPYTHON_BINDINGS=ON -DPYBIND11_PYTHON_VERSION=3.7 -DPython_EXECUTABLE=/usr/bin/python3.7 

Building doxygen doc

Make sure that doxygen is installed and available. Running cmake normally will create a rule for building doc with doxygen.

``` sh

Run cmake normally

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Changelog for package toppra

0.6.7 (2026-04-09)

• build(cpp): Modernize googletest CMake usage (#283)
• Contributors: Sebastian Castro

0.6.6 (2026-03-31)

• [cpp] Add missing cassert includes (#280)
• [cpp] Fix CMake syntax for Eigen3 version check (#279)
• [ros] Add python3-dev and eigen as a dependency in package.xml (#278)
• Contributors: Sebastian Castro

0.6.5 (2026-03-27)

• [python]: Go back to master branch of hungpham2511 qpOASES repo (#273)
• Prepare for ROS build farm (#277)
• Contributors: Sebastian Castro

0.6.4 (2026-01-26)

• chore: Bump version to 0.6.4 (#268)
• Fix Python and C++ CI, disable ECOS solver in tests (#270)
• build: Move Python library to its own subfolder to support building as ROS 2 package (#266)
• fix(test): Use ASSERT_NEAR for 0 comparison in test_parametrizer.cpp (#265)
• fix(cpp): incoherent bounds seidel lp 1d (#247)
• Contributors: Erik Holum, Joseph Mirabel, Maxim Skripnik, Sebastian Castro, Silvio Traversaro

0.6.3 (2025-03-16)

• Updated interface for numpy > 2.0 (#259)
• Contributors: Zachary Kingston

0.6.2 (2023-09-19)

• chore: Bump toppra version: '0.6.1' --> '0.6.2'
• feat: warn when solver fails (#241)
• Release version 0.6.2 (#242)
• Contributors: Hung Pham (Phạm Tiến Hùng), Joseph Mirabel

0.6.1 (2023-04-21)

• chore: Bump toppra version: '0.6.0' --> '0.6.1' ( #233)
• fix: fix numerical issue in Seidel 1D solver.
• Contributors: Joseph Mirabel

0.6.0 (2023-03-08)

• chore: Bump toppra version: '0.5.2' --> '0.6.0'
• feat(cpp): Add initial gridpoints to proposeGridpoints (#227)
• feat(cpp,constraint): Make Interpolation the default method (#225)
• Contributors: Hung, Hung Pham (Phạm Tiến Hùng), Joseph Mirabel

0.5.2 (2022-11-19)

• Bump version: 0.5.1 → 0.5.2
• chore: make C++ always define all installed symbols. (#215)
• feat: Allow setting N=0 to select gridpoints automatically (#201)
• feat: Improve the cubic spline, hermite spline factory methods (#202)
• doc,build: Minor adjustments to docstring for a clearer explaination
• doc: Improve PiecewisePolyPath constructor docstring
• Contributors: Hung, Hung Pham (Phạm Tiến Hùng), Joseph Mirabel

0.5.1 (2022-07-15)

• Bump version: 0.5.0 → 0.5.1
• Contributors: Hung

0.5.0 (2022-07-14)

• Bump version: 0.4.2 → 0.5.0
• Make path times public. (#197)
• Fixed bug in ConstAccel parametrizer where evaluating valid times can sometimes result in an exception being thrown. (#193)
• Google Test: master -> main

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