More improvements

Main additions/improvements :

• Faster OpenRAVE trajectory extraction (thanks to Rosen)
• Recovery mechanism when integration fails
• PolygonConstraints class to handle redundant actuation (cf. http://www.ntu.edu.sg/home/cuong/docs/overactuated.pdf)

First stable release, improved

Various enhancements to the "First stable release" to improve the robustness of the implementation.

First stable release

This is the first official release of TOPP, the Time-Optimal Path Parameterization library. TOPP finds feasible time-parameterization of robots' trajectories subject to kinodynamic constraints. This version supports:

• velocity and acceleration limits (KinematicLimits)
• actuator torque limits (TorqueLimitsRave)
• general quadratic kinodynamic constraints (QuadraticConstraints, see http://arxiv.org/abs/1312.6533)

It can be compiled as a standalone binary or integrated with OpenRAVE (required for torque constraints). See the README for more information.