trajectory_tools.cpp

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/* Author: Ioan Sucan */

#include <moveit/trajectory_processing/trajectory_tools.h>

namespace trajectory_processing
{

bool isTrajectoryEmpty(const moveit_msgs::RobotTrajectory &trajectory)
{
  return trajectory.joint_trajectory.points.empty() && trajectory.multi_dof_joint_trajectory.points.empty();
}

std::size_t trajectoryWaypointCount(const moveit_msgs::RobotTrajectory &trajectory)
{
  return std::max(trajectory.joint_trajectory.points.size(), trajectory.multi_dof_joint_trajectory.points.size());
}

}