iterative_spline_parameterization.h

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/* Author: Ken Anderson */

#ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
#define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__

#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/trajectory_processing/time_parameterization.h>

namespace trajectory_processing
{
class IterativeSplineParameterization : public TimeParameterization
{
public:
  IterativeSplineParameterization(bool add_points = true);

  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
                         const double max_acceleration_scaling_factor = 1.0) const override;

private:
  bool add_points_;  
};
}  // namespace trajectory_processing

#endif