53 return "Add Time Parameterization";
59 std::vector<std::size_t>& added_path_index)
const 61 bool result = planner(planning_scene, req, res);
66 req.max_acceleration_scaling_factor))
67 ROS_WARN(
"Time parametrization for the solution path failed.");
robot_trajectory::RobotTrajectoryPtr trajectory_
trajectory_processing::IterativeParabolicTimeParameterization time_param_
virtual bool adaptAndPlan(const PlannerFn &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeParameterization, planning_request_adapter::PlanningRequestAdapter)
virtual std::string getDescription() const
AddTimeParameterization()
moveit_msgs::MotionPlanRequest MotionPlanRequest
boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const