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Tidy up the mess #1243

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merged 1 commit into from
May 12, 2022
+7 −5
Merged

Tidy up the mess #1243

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2 changes: 1 addition & 1 deletion ...tory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -171,7 +171,7 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization

bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
const std::unordered_map<std::string, double>& velocity_limits,
const std::unordered_map<std::string, double>& acceleration_limits) const;
const std::unordered_map<std::string, double>& acceleration_limits) const override;

private:
bool doTimeParameterizationCalculations(robot_trajectory::RobotTrajectory& trajectory,
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5 changes: 3 additions & 2 deletions moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
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Expand Up @@ -347,8 +347,9 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
}

bool IterativeSplineParameterization::computeTimeStamps(
robot_trajectory::RobotTrajectory& trajectory, const std::unordered_map<std::string, double>& velocity_limits,
const std::unordered_map<std::string, double>& acceleration_limits) const
robot_trajectory::RobotTrajectory& /*trajectory*/,
const std::unordered_map<std::string, double>& /*velocity_limits*/,
const std::unordered_map<std::string, double>& /*acceleration_limits*/) const
{
RCLCPP_ERROR(LOGGER, "ISTP does not support this version of computeTimeStamps. Try TOTG instead?");
return false;
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5 changes: 3 additions & 2 deletions moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
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Expand Up @@ -487,8 +487,9 @@ bool IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory:
}

bool IterativeParabolicTimeParameterization::computeTimeStamps(
robot_trajectory::RobotTrajectory& trajectory, const std::unordered_map<std::string, double>& velocity_limits,
const std::unordered_map<std::string, double>& acceleration_limits) const
robot_trajectory::RobotTrajectory& /*trajectory*/,
const std::unordered_map<std::string, double>& /*velocity_limits*/,
const std::unordered_map<std::string, double>& /*acceleration_limits*/) const
{
RCLCPP_ERROR(LOGGER, "IPTP does not support this version of computeTimeStamps. Try TOTG instead?");
return false;
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