edit README.md and installation script

README.md

@@ -14,6 +14,20 @@ In general, given the inputs:
 TOPP-RA returns the time-optimal path parameterization: `s_dot (s)`, from which the fastest trajectory `q(t)` that satisfies the given
 constraints can be found.
 
+## Quick-start
+
+To install toppra, simple clone the repo and install with pip
+
+``` shell
+git clone https://github.com/hungpham2511/toppra
+cd toppra && pip install .
+```
+
+To install depencidencies for development, replace the second command with:
+``` shell
+cd toppra && pip install -e .[dev]
+```
+
 ## Citing TOPP-RA
 If you use this library for your research, we encourage you to 
 

setup.py

@@ -47,6 +47,15 @@
 if __name__ == "__main__":
     setup(install_requires=REQUIRES,
           setup_requires=["numpy", "cython"],
+          extras_require={
+              'dev': [
+                  'pytest',
+                  'pytest-pep8',
+                  'pytest-cov',
+                  'tabulate',
+                  'cvxpy'
+              ]
+          },
           packages=PACKAGES,
           zip_safe=False,
           name=NAME,

toppra/interpolator.py

@@ -1,5 +1,4 @@
-"""Implementations of interpolators, which representgeometric paths.
-
+"""This module implements interpolators for representing geometric paths and trajectories.
 """
 import logging
 import warnings
@@ -21,13 +20,11 @@ def normalize(gridpoints):
     # type: (np.ndarray) -> np.ndarray
     """Normalize the path discretization.
 
-    Parameters
-    ----------
-    gridpoints: Path position array.
+    Args:
+        gridpoints: Path position array.
 
-    Returns
-    -------
-    out: Normalized path position array.
+    Returns:
+        out: Normalized path position array.
     """
     return np.array(gridpoints) / gridpoints[-1]
 
@@ -36,17 +33,12 @@ def _find_left_index(gridpoints, s):
     # type: (np.ndarray, float) -> int
     """Find the least lowest entry that is larger or equal.
 
-    Parameters
-    ----------
-    gridpoints:
-        Array of path positions.
-    s:
-        A path position.
-
-    Returns
-    -------
-    out:
-        The desired index.
+    Args:
+        gridpoints: Array of path positions.
+        s: A path position.
+
+    Returns:
+        out: The desired index.
 
     """
     for i in range(1, len(gridpoints)):