trajectory_tools.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/trajectory_processing/trajectory_tools.h>
#include <moveit/trajectory_processing/ruckig_traj_smoothing.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
namespace trajectory_processing
{
bool isTrajectoryEmpty(const moveit_msgs::msg::RobotTrajectory& trajectory)
{
  return trajectory.joint_trajectory.points.empty() && trajectory.multi_dof_joint_trajectory.points.empty();
}
 
std::size_t trajectoryWaypointCount(const moveit_msgs::msg::RobotTrajectory& trajectory)
{
  return std::max(trajectory.joint_trajectory.points.size(), trajectory.multi_dof_joint_trajectory.points.size());
}
bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
                                   double acceleration_scaling_factor, double path_tolerance, double resample_dt,
                                   double min_angle_change)
{
  TimeOptimalTrajectoryGeneration totg(path_tolerance, resample_dt, min_angle_change);
  return totg.computeTimeStamps(trajectory, velocity_scaling_factor, acceleration_scaling_factor);
}
bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
                          double acceleration_scaling_factor, bool mitigate_overshoot, double overshoot_threshold)
{
  RuckigSmoothing time_param;
  return time_param.applySmoothing(trajectory, velocity_scaling_factor, acceleration_scaling_factor, mitigate_overshoot,
                                   overshoot_threshold);
}
}  // namespace trajectory_processing