  Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to
kinodynamic constraints is an essential component in many robotic theories and
applications. The objective of this article is to provide a general, fast and
robust implementation of this component. For this, we give a complete solution
to the issue of dynamic singularities, which are the main cause of failure in
existing implementations. We then present an open-source implementation of the
algorithm in C++/Python and demonstrate its robustness and speed in various
robotics settings.
