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moveit · Jan 17, 2023 · b5d774e · b5d774e
1 parent 48d56f9
commit b5d774e
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diff --git a/moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp b/moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp
@@ -223,6 +223,7 @@ bool RuckigSmoothing::applySmoothing(robot_trajectory::RobotTrajectory& trajecto
   std::unordered_map<std::string, double> jerk_limits;
   for (const auto& limit : joint_limits)
   {
+    // If custom limits are not defined here, they will be supplied from getRobotModelBounds() later
     if (limit.has_velocity_limits)
     {
       velocity_limits[limit.joint_name] = limit.max_velocity;

diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -948,6 +948,7 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
   std::unordered_map<std::string, double> acceleration_limits;
   for (const auto& limit : joint_limits)
   {
+    // If custom limits are not defined here, they will be supplied from getRobotModelBounds() later
     if (limit.has_velocity_limits)
     {
       velocity_limits[limit.joint_name] = limit.max_velocity;