Remove Iterative Spline and Iterative Parabola time-param algorithms …

…(v2) (#1780) * Iterative parabolic parameterization fails for nonzero initial/final conditions * Iterative spline parameterization fails, too * Delete Iterative Spline & Iterative Parabola algorithms
moveit · Dec 6, 2022 · 62e6f9e · 62e6f9e
1 parent 86991d1
commit 62e6f9e
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diff --git a/moveit_core/trajectory_processing/CMakeLists.txt b/moveit_core/trajectory_processing/CMakeLists.txt
@@ -1,6 +1,4 @@
 add_library(moveit_trajectory_processing SHARED
-  src/iterative_time_parameterization.cpp
-  src/iterative_spline_parameterization.cpp
   src/ruckig_traj_smoothing.cpp
   src/trajectory_tools.cpp
   src/time_optimal_trajectory_generation.cpp
@@ -35,10 +33,6 @@ if(BUILD_TESTING)
     set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../robot_trajectory;${CMAKE_CURRENT_BINARY_DIR}/../utils")
   endif()
 
-  ament_add_gtest(test_time_parameterization test/test_time_parameterization.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  target_link_libraries(test_time_parameterization moveit_test_utils moveit_trajectory_processing)
-
   ament_add_gtest(test_time_optimal_trajectory_generation test/test_time_optimal_trajectory_generation.cpp)
   target_link_libraries(test_time_optimal_trajectory_generation moveit_test_utils moveit_trajectory_processing)
 

diff --git a/...ctory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h b/...ctory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
diff --git a/...jectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h b/...jectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h