Setting the Velocity of the start and end point but does not work

[moguizhang]

Thank you for writing such a great open source project. I want to use it for trajectory planning of the joint space of a six axis robotic arm, but I don't know how to set the start and end Velocity to non-zero. Could you please guide me? Thank you very much!
Here is my code

void test_toppra()
{
using namespace toppra;
constexpr int dofs = 6;

toppra::Vectors positions;
toppra::Vector waypoint1(dofs);
toppra::Vector waypoint2(dofs);
toppra::Vector waypoint3(dofs);
toppra::Vector waypoint4(dofs);
waypoint1 << 0, 0, 0, 0, 0, 0;
waypoint2 << 1, 2, 3, 3, 2, 1;
waypoint3 << 3, 2, 1, 1, 2, 3;
waypoint4 << 4, 5, 6, 4, 5, 6;

positions.push_back(waypoint1);
positions.push_back(waypoint2);
positions.push_back(waypoint3);
positions.push_back(waypoint4);

toppra::BoundaryCond bc1{ "clamped" };
bc1.order = 1;
//bc1.bc_type = toppra::BoundaryCond::Clamped;
bc1.values.resize(dofs);

toppra::BoundaryCond bc2{ "clamped" };
bc2.order = 1;
//bc2.bc_type = toppra::BoundaryCond::Clamped;
bc2.values.resize(dofs);

for (int i = 0; i < 6; ++i)
{
	bc1.values(i) = 0.8;
	bc2.values(i) = 0.5;
}


std::array<toppra::BoundaryCond, 2> boundary_cond;
boundary_cond[0] = bc1;
boundary_cond[1] = bc2;
toppra::Vector times(positions.size());
times.setLinSpaced(0, 1);
toppra::PiecewisePolyPath path = toppra::PiecewisePolyPath::CubicSpline(positions, times, boundary_cond);
toppra::GeometricPathPtr path_ptr = std::make_shared<toppra::PiecewisePolyPath>(path);

Eigen::VectorXd velLimitLower(dofs);
Eigen::VectorXd velLimitUpper(dofs);
Eigen::VectorXd accLimitLower(dofs);
Eigen::VectorXd accLimitUpper(dofs);
for (int i = 0; i < 6; ++i)
{
	velLimitLower[i] = -1;
	velLimitUpper[i] = 1;

	accLimitLower[i] = -10;
	accLimitUpper[i] = 10;
}
toppra::LinearConstraintPtrs constraints = toppra::LinearConstraintPtrs{
std::make_shared<toppra::constraint::LinearJointVelocity>(velLimitLower, velLimitUpper),
std::make_shared<toppra::constraint::LinearJointAcceleration>(accLimitLower, accLimitUpper) };


toppra::algorithm::TOPPRA problem{ constraints, path_ptr };
toppra::ReturnCode ret_code = problem.computePathParametrization();
if (ret_code == toppra::ReturnCode::OK)
{
	toppra::Vector gridpoints = problem.getParameterizationData().gridpoints;
	toppra::Vector vsquared = problem.getParameterizationData().parametrization;

	toppra::parametrizer::ConstAccel output_traj{ path_ptr,
												gridpoints,
												vsquared };

	auto path_interval = output_traj.pathInterval();
	double duration = path_interval[1] - path_interval[0];
	std::cout << "Traj duration:" << duration << std::endl;
	int rows = std::ceil(duration / 0.005);
	toppra::Vector time(rows);
	time.setLinSpaced(0, duration);
	toppra::Vectors topp_pos_vec_ = output_traj.eval(time, 0);
	toppra::Vectors topp_vel_vec_ = output_traj.eval(time, 1);
	toppra::Vectors topp_acc_vec_ = output_traj.eval(time, 2);
}
else
{
	cout << problem.getErrorMessage() << endl;
}

}