Repar about topp

[rdiankov]

FYI, this is why i had to write the ExtractOpenRAVETrajectoryFromProfiles function (found in TorqueLimitsRave.cpp), which will extract the profiles exactly without re-sampling.

[stephendb]

The quadratic constraints do not have an OpenRAVE dependency and are quite agnostic to what they represent which is very nice. TOPP claims that OpenRAVE is an optional dependency. If there is no way to parameterize the profiles as a function of time without OpenRAVE then it should be required to install OpenRAVE as clearly the software cannot function without it.

Time-optimal path parameterization, Or I guess you could change the name to Time-Optimal Path Profiles (TOPP).

[rdiankov]

the function just outputs the data directly to openrave trajectory object, there's no dependency on openrave used to extract the profiles.
even if openrave functionality was being used, if the function is useful to you, i'm sure you could figure out a way to remove openrave out of it.