Real-Time Time-Optimal Trajectory Parameterization

Setup and build for users (tested on Ubuntu 26.04)

 sudo apt install libboost-all-dev libeigen3-dev libgtest-dev libbenchmark-dev ninja-build nlohmann-json3-dev
 git clone --recursive https://github.com/KITrobotics/rt-topp.git rttopp
 cd rttopp
 mkdir build && cd build
 cmake ../ -G Ninja -DCMAKE_BUILD_TYPE=Release
 ninja

Additional steps for developers

 sudo apt install clang clang-format clang-tidy python3-matplotlib python3-numpy pre-commit dvipng texlive-latex-extra texlive-fonts-recommended cm-super texlive-science
 python3 -m pre_commit install

Examples

Files in examples contain some usage examples. They parametrize random paths.

scripts contains a script for plotting of generated trajectories.

Tests

Tests can be run with ctest --verbose in the build directory.