text: from setuptools import setup, Extension
  from Cython.Distutils import build_ext
  from Cython.Build import cythonize
  import numpy as np
  
  NAME = "toppra"
  VERSION = "0.2"
  DESCR = "An implementation of TOPP-RA (TOPP via Reachability Analysis) for time-parametrizing" \
          "trajectories for robots subject to kinematic (velocity and acceleration) and dynamic" \
          "(torque) constraints. Some other kinds of constraints are also supported."
  URL = "https://github.com/hungpham2511/toppra"
  with open("requirements.txt", "r") as f:
      REQUIRES = [line.strip() for line in f if line.strip()]
  
  AUTHOR = "Hung Pham"
  EMAIL = "hungpham2511@gmail.com"
  
  LICENSE = "MIT"
  
  SRC_DIR = "toppra"
  PACKAGES = ["toppra",
              "toppra.constraint",
              "toppra.algorithm",
              "toppra.algorithm.reachabilitybased",
              "toppra.solverwrapper"]
  
  ext_1 = Extension(SRC_DIR + "._CythonUtils",
                    [SRC_DIR + "/_CythonUtils.pyx"],
                    libraries=[],
                    include_dirs=[np.get_include()])
  
  ext_2 = Extension(SRC_DIR + ".solverwrapper.cy_seidel_solverwrapper",
                    [SRC_DIR + "/solverwrapper/cy_seidel_solverwrapper.pyx"],
                    extra_compile_args=['-O1'],
                    include_dirs=[np.get_include()])
  
  EXTENSIONS = [ext_1, ext_2]
  
  if __name__ == "__main__":
      setup(install_requires=REQUIRES,
            packages=PACKAGES,
            zip_safe=False,
            name=NAME,
            version=VERSION,
            description=DESCR,
            author=AUTHOR,
            author_email=EMAIL,
            url=URL,
            license=LICENSE,
            cmdclass={"build_ext": build_ext},
            ext_modules=cythonize(EXTENSIONS)
            )
  