bool computeTimeStampsWithTorqueLimits(robot_trajectory::RobotTrajectory &trajectory, const geometry_msgs::Vector3 &gravity_vector, const std::vector< geometry_msgs::Wrench > &external_link_wrenches, const std::vector< double > &joint_torque_limits, double accel_limit_decrement_factor, const std::unordered_map< std::string, double > &velocity_limits, const std::unordered_map< std::string, double > &acceleration_limits, const double max_velocity_scaling_factor, const double max_acceleration_scaling_factor) const
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_)....