Replace the idx variable in trajectory processing plugins with the JointGroup API

[AndyZe]

There was a comment here on the Ruckig trajectory plugin PR which also applies to the other plugins in the moveit_core/trajectory_processing folder:

The code would be much more readable and consistent with MoveIt if you would use the joint group instead of passing num_dof and joint_idx everywhere.

Essentially, replace the usage of idx and num_dof with usage of the Joint Group API.

[invincialok]

i am a beginer how can i solve this issue . plz guide me

[AndyZe]

Thanks @invincialok. I think what @henningkayser meant is, you should go through the moveit_core/trajectory_processing folder and replace num_dof and idx arguments in function signatures like this:

  static void getNextRuckigInput(const ruckig::OutputParameter<0>& ruckig_output,
                                 const moveit::core::RobotStatePtr& next_waypoint, size_t num_dof,
                                 const std::vector<int>& idx, ruckig::InputParameter<0>& ruckig_input);

With something like this:

  static void getNextRuckigInput(const ruckig::OutputParameter<0>& ruckig_output,
                                 const moveit::core::RobotStatePtr& next_waypoint,
                                 const moveit::core::JointModelGroup* joint_group,
                                 ruckig::InputParameter<0>& ruckig_input);

For example, you can replace num_dof with this: joint_group->getVariableCount();

[AndyZe]

Closed by #1152