Differences between Python and C++ implementation

[hashb]

I recently switched to using C++ implementation of toppra and have been running into failed parameterization due to ERR_UNKNOWN and ERR_FAIL_FORWARD_PASS. Another thing that I noticed is that, for the same trajectory, the time to compute parameterization is around 0.04s for python but is taking around 0.1-0.2s in c++ which is counter intuitive for me. Is there any major differences between the python and C++ implementations? I am planning to dig deeper into this and wanted to see if I can get some insights from you @hungpham2511

[hungpham2511]

Another thing that I noticed is that, for the same trajectory, the time to compute parameterization is around 0.04s for python but is taking around 0.1-0.2s in c++

Could you provide more information on the solver used?

If you use Seidel solver in C++ you should have similar timings.

ERR_UNKNOWN and ERR_FAIL_FORWARD_PASS

It would be helpful if you can provide a failing example.

[hashb]

Thank you for the quick reply! I was using qpOASES before, looks like seidel is much faster for toppra problem. As for the failed parameterization, I had a bug in my varying acceleration constraint which was causing ERR_UNKNOWN. ERR_FAIL_FORWARD_PASS was because of very short input trajectory.