Comment all 3 versions of computeTimeStamps

moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h

@@ -167,34 +167,39 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization
   TimeOptimalTrajectoryGeneration(const double path_tolerance = 0.1, const double resample_dt = 0.1,
                                   const double min_angle_change = 0.001);
 
+  // clang-format off
+/**
+  * \brief Compute a trajectory with waypoints spaced equally in time (according to resample_dt_).
+  * Resampling the trajectory doesn't change the start and goal point,
+  * and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_).
+  * However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints.
+  * path_tolerance_ is defined in configuration space, so the unit is usually radians.
+  * \param[in,out] trajectory A path which needs time-parameterization. It's OK if this path has already been
+  * time-parameterized; this function will re-time-parameterize it.
+  * \param max_velocity_scaling_factor A factor in the range [0,1] which can slow down the trajectory.
+  * \param max_acceleration_scaling_factor A factor in the range [0,1] which can slow down the trajectory.
+  */
+  // clang-format on
   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
                          const double max_acceleration_scaling_factor = 1.0) const override;
 
+  // clang-format off
+/**
+  * \brief Compute a trajectory with waypoints spaced equally in time (according to resample_dt_).
+  * Resampling the trajectory doesn't change the start and goal point,
+  * and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_).
+  * However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints.
+  * path_tolerance_ is defined in configuration space, so the unit is usually radians.
+  * \param[in,out] trajectory A path which needs time-parameterization. It's OK if this path has already been
+  * time-parameterized; this function will re-time-parameterize it.
+  * \param velocity_limits Joint names and velocity limits in rad/s
+  * \param acceleration_limits Joint names and acceleration limits in rad/s^2
+  */
+  // clang-format on
   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;
 
-<<<<<<< HEAD
-=======
-  // clang-format off
-  /**
-   * \brief Compute a trajectory with the given number of waypoints (plus or minus 1, due to rounding).
-   * Resampling the trajectory to get the desired num_waypoints doesn't change the start and goal point,
-   * and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_).
-   * path_tolerance_ is defined in configuration space, so the unit is usually radians.
-   * But controller execution may deviate from the intended path if waypoint spacing is too sparse.
-   * \param num_waypoints The desired number of waypoints.
-   * \param[in,out] trajectory A path which needs time-parameterization. It's OK if this path has already been
-   * time-parameterized; this function will re-time-parameterize it.
-   * \param max_velocity_scaling_factor Joint velocity limits are scaled by this factor.
-   * \param max_acceleration_scaling_factor Joint acceleration limits are scaled by this factor.
-   */
-  // clang-format on
-  bool computeTimeStamps(const size_t num_waypoints, robot_trajectory::RobotTrajectory& trajectory,
-                         const double max_velocity_scaling_factor = 1.0,
-                         const double max_acceleration_scaling_factor = 1.0);
-
->>>>>>> faf71f41d (Increase understanding of TOTG path_tolerance_)
 private:
   bool doTimeParameterizationCalculations(robot_trajectory::RobotTrajectory& trajectory,
                                           const Eigen::VectorXd& max_velocity,
@@ -207,16 +212,15 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization
 
 // clang-format off
 /**
-  * \brief Compute a trajectory with the given number of waypoints (plus or minus 1, due to rounding).
-  * Resampling the trajectory to get the desired num_waypoints doesn't change the start and goal point,
-  * and all re-sampled waypoints will be on the path of the original trajectory (within the configured tolerances)
-  * but controller execution may deviate from the intended path if waypoint spacing is too sparse.
-  * This is a free function because it needs to modify the const resample_dt_ member of TimeOptimalTrajectoryGeneration class.
-  * \param num_waypoints The desired number of waypoints.
+  * \brief Compute a trajectory with the desired number of waypoints.
+  * Resampling the trajectory doesn't change the start and goal point,
+  * and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_).
+  * However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints.
+  * path_tolerance_ is defined in configuration space, so the unit is usually radians.
   * \param[in,out] trajectory A path which needs time-parameterization. It's OK if this path has already been
   * time-parameterized; this function will re-time-parameterize it.
-  * \param max_velocity_scaling_factor Joint velocity limits are scaled by this factor.
-  * \param max_acceleration_scaling_factor Joint acceleration limits are scaled by this factor.
+  * \param velocity_limits Joint names and velocity limits in rad/s
+  * \param acceleration_limits Joint names and acceleration limits in rad/s^2
   */
 // clang-format on
 bool totgComputeTimeStamps(const size_t num_waypoints, robot_trajectory::RobotTrajectory& trajectory,