C++ Implementation

We will use this issue to flesh out some key designs of the C++ interface.

There are a few core components that are required.

• Trajectory representation;
• Constraint representation;
• LP solver wrapper;
• Core TOPPRA pipeline;
• Matrix manipulation libraries in C++?

I am most inexperienced with trajectory representation in C++. Use OpenRAVE before with its representation, but bringing it over is a huge dependency that I am not willing to make. In the Python implementation I am basically using scipy.interpolate extensively.

[jmirabel]

The main algorithm has been implemented so I think this issue can be closed. Bug reports or feature requests can go into their own specific issue. @hungpham2511 if you agree, I let you close.

[jmirabel]

Here is what I am most familiar with:

• matrix representation: Eigen
• trajectory representation: there are two different things to represent: the path (i.e. a non time-parameterized curve in the configuration space) and the time parameterisation. I don’t have strong opinion on this but I think it should be independent of OpenRave.
• constraint representation: I guess here, we need a dynamic library. I am very familiar with Pinocchio and I think it is a good candidate for this task.

That being said, I think the core TOPPRA pipeline is agnostic of the trajectory and constraint representation, as long as we define an abstract base class. I think it would be great to be able to use the C++ implementation with any dynamic library and with any trajectory representation.

We could then add a second library in the repo that contains the implementation of the constraints using the dynamic library of our choice and some trajectory representation.

We should also discuss what license the code will have. Do you have any constraints on this ?