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58 return "Add Time Parameterization";
63 std::vector<std::size_t>& added_path_index)
const override
69 std::size_t trajectory_size_before = res.
trajectory_->getWayPointCount();
71 req.max_acceleration_scaling_factor))
73 ROS_ERROR(
"Time parametrization for the solution path failed.");
78 if (trajectory_size_before + 2 == res.
trajectory_->getWayPointCount())
80 added_path_index.push_back(1);
81 added_path_index.push_back(res.
trajectory_->getWayPointCount() - 2);
std::string getDescription() const override
trajectory_processing::IterativeSplineParameterization time_param_
AddIterativeSplineParameterization()
robot_trajectory::RobotTrajectoryPtr trajectory_
moveit_msgs::MotionPlanRequest MotionPlanRequest
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override
boost::function< bool(const planning_scene::PlanningSceneConstPtr &, const planning_interface::MotionPlanRequest &, planning_interface::MotionPlanResponse &)> PlannerFn
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 override
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddIterativeSplineParameterization, planning_request_adapter::PlanningRequestAdapter)
void initialize(const ros::NodeHandle &) override
planning
Author(s): Ioan Sucan
, Sachin Chitta
autogenerated on Sat Jan 18 2025 03:36:46