Time-Optimal Path Parameterization (à la Bobrow)
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LICENSE Update LICENSE Feb 26, 2014



NOTE: Starting June 2018, TOPP will no longer be actively maintained. Please use TOPP-RA, which provides all functionalities supported by TOPP while being faster and more robust (100% success rate guaranteed).

This is TOPP, the Time-Optimal Path Parameterization library by Quang-Cuong Pham (cuong.pham@normalesup.org).

If you use this library for your research, please reference the accompanying paper «A general, fast, and robust implementation of the time-optimal path parameterization algorithm», IEEE Transactions on Robotics, vol. 30(6), pp. 1533–1540, 2014.

If you use Admissible Velocity Propagation, please reference also «Admissible Velocity Propagation: Beyond quasi-static path planning for high-dimensional robots», The International Journal of Robotics Research, vol. 36(1), pp. 44–67, 2017.

Many thanks to Stéphane Caron, Rosen Diankov, Puttichai Lertkultanon, and others, for their contributions!


The following software is required to install TOPP:

  • Python (2.7 or above), with numpy, scipy and matplotlib
  • Boost (1.46 or above), with Boost.Python

If you need OpenRAVE support (for dynamics computations), the following software is also required:


Follow the standard installation procedure: from the TOPP directory,

mkdir build
cd build
cmake ..
sudo make install

TOPP will be compiled with OpenRAVE support if the latter is found on your system.


Please try the test files in the tests/ folder or copy-paste test cases from https://github.com/quangounet/TOPP/wiki/Quick-examples

Documentation, Tutorials...

See the wiki https://github.com/quangounet/TOPP/wiki