add test for https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/310#issuecomment-314694668

[k-okada]

#310 (comment)

CAUTION: 21ed50b changes to set start-offset-time to 0 as default value, other wise, if we do not set this value, we'll skip trajectory-filter very easily

  (:trajectory-filter ;; simple trajectory for zero duration
   (traj &key (copy) (total-time 5000.0) (minimum-time 0.001) (start-offset-time) (clear-velocities) &rest args &allow-other-keys)
   (let ((orig-total-time (send (send (car (last (send traj :points))) :time_from_start) :to-sec)))
   (when (and minimum-time (not start-offset-time)
              (> orig-total-time
                 minimum-time))
     (ros::ros-warn ";; Trajectory Filter will not work, start-offset-time : ~A, minimum-time : ~A, first point in trajectory ~A" start-offset-time minimum-time orig-total-time)
     (return-from :trajectory-filter traj)

• 4cd0b85 (Kei Okada, 35 seconds ago)
  test/test-pr2eus-moveit.l, add test-moveit-fastest-trajectory, ensure that
  :angle-vector-motion-plan will not send faster motion then moveit planned
  motion
• 5f3c487 (Kei Okada, 2 minutes ago)
  display both scaled trajectory time and actual time_to_start time
• 21ed50b (Kei Okada, 7 minutes ago)
  robot-moveit.l : set default start-offset-time to 0, not to skip
  :trajectory-filter
• 45852d2 (Kei Okada, 28 minutes ago)
  robot-moveit.l, fix debug info (/ total-time 1000) -> (/ total-time 1000.0)