<commit_before># `toppra`
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- [`toppra`](#-toppra-)
- [TOC](#toc)
  * [Quick-start](#quick-start)
  * [Citing **TOPP-RA**](#citing---topp-ra--)
  * [Bug reports and supports](#bug-reports-and-supports)
  * [Contributions](#contributions)

## Overview

**toppra** is a library for computing the time-optimal path
parametrization for robots subject to kinematic and dynamic
constraints.  In general, given the inputs:

1. a geometric path `p(s)`, `s` in `[0, s_end]`;
2. a list of constraints on joint velocity, joint accelerations, tool
   Cartesian velocity, et cetera.

**toppra** returns the time-optimal path parameterization: `s_dot
(s)`, from which the fastest trajectory `q(t)` that satisfies the
given constraints can be found.

**Documentation and tutorials** are available at
(https://toppra.readthedocs.io/en/latest/index.html).


## Quick-start<commit_msg>Edit README<commit_after># `toppra`
[![CircleCI](https://circleci.com/gh/hungpham2511/toppra/tree/develop.svg?style=svg)](https://circleci.com/gh/hungpham2511/toppra/tree/develop)
[![Coverage Status](https://coveralls.io/repos/github/hungpham2511/toppra/badge.svg?branch=master)](https://coveralls.io/github/hungpham2511/toppra?branch=master)
[![Documentation Status](https://readthedocs.org/projects/toppra/badge/?version=latest)](https://toppra.readthedocs.io/en/latest/?badge=latest)


  * [Overview](#overview)
  * [Quick-start](#quick-start)
  * [Citing **TOPP-RA**](#citing---topp-ra--)
  * [Bug reports and supports](#bug-reports-and-supports)
  * [Contributions](#contributions)

## Overview

**toppra** is a library for computing the time-optimal path
parametrization for robots subject to kinematic and dynamic
constraints.  In general, given the inputs:

1. a geometric path `p(s)`, `s` in `[0, s_end]`;
2. a list of constraints on joint velocity, joint accelerations, tool
   Cartesian velocity, et cetera.

**toppra** returns the time-optimal path parameterization: `s_dot
(s)`, from which the fastest trajectory `q(t)` that satisfies the
given constraints can be found.

**Documentation and tutorials** are available at
(https://toppra.readthedocs.io/en/latest/index.html).


## Quick-start
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