This is parabint, a library for time-optimal parabolic interpolation with velocity, acceleration, and minimum-switch-time constraints.

In case you want to also use the optimization routines in optimization.py for comparison, you will need to install Ipopt and pyipopt.

Clone this repository via

git clone https://github.com/puttichai/parabint

Then from your parabint directory, run

sudo python setup.py install

See the examples folder for some examples.