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[hungpham2511]

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[MinRen86]

How to use TOPPRA(c++) with path, start joint velocity and end joint velocity ?

[jmirabel]

This comment is unrelated to this thread. Generally, when you have a question, you should check whether someone has already asked a similar question and, if not, you should open a new discussion. Following these rules helps others find answers to already asked questions and reduces the weight on the maintainer. Thanks.

Regarding your specific issue, you should have a look at the unit test. I think there are sufficient information to achieve what you want.