Installation

Installing Python API

Basic installation

Run the below command to run the stable version of the Python API

pip install git+https://github.com/hungpham2511/toppra

The development version can be installed with this instead.

pip install git+https://github.com/hungpham2511/toppra@develop

You can now try a basic example:

python examples/plot_kinematics.py

Installing other solver backends

The default installation comes with an implementation of the seidel LP solver, specialized for parametrization problem. Other backends are also available.

To install qpoases run following command after installing pyinvoke

inv install-solvers

To install other backends (cvxpy, cvxopt, ecos), install the dev extra requirements:

pip install .[dev]

Installing C++ API

See cpp/README.md for more details.

Building docs

The latest documentation is available at https://hungpham2511.github.io/toppra.

To build and view the documentation locally, run the following command in the terminal.

cd toppra/docs
pip install -r requirements.txt
make livehtml

The C++ API has its own doxygen-based API.

Testing

The Python API test suites use pytest for running unittests, you will need to install the dev extra (See above) and run pytest to run the full suite.

cd <toppra-dir>/
pytest -v

The C++ API has a set of unit tests as well, from the build folder run:

./tests/all_tests