hungpham2511
commented
5 years ago This is not possible with the TOPPRA algorithm per se. If I am not wrong, however, the problem you are looking to solve can be solved by formulating the retiming problem as a convex optimization problem and solve it directly. Please note that technique might have a significantly higher computational cost, probably in the range of seconds.
In fact I have planned to implement this functionality in TOPPRA for sometimes. If you implement something I would love to merge it to TOPPRA.
Commit 74b99fa adds the ability to specify a total time for the whole trajectory. Is it possible to specify an exact time for multiple way-points and fail if the request isn't feasible?