iterative_spline_parameterization.h

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/* Author: Ken Anderson */
 
#pragma once
 
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <rclcpp/rclcpp.hpp>
#include <moveit/trajectory_processing/time_parameterization.h>
 
namespace trajectory_processing
{
class IterativeSplineParameterization : public TimeParameterization
{
public:
  IterativeSplineParameterization(bool add_points = true);
 
  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
                         const double max_acceleration_scaling_factor = 1.0) const override;
 
  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 override;
 
private:
  bool add_points_;  
};
}  // namespace trajectory_processing