Select time parametrization algorithm in retime_trajectory #1508
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v4hn
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moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
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bmagyar
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…time_trajectory in pyhon interface of move_group.
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v4hn
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BryceStevenWilley
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Jul 4, 2019
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Congrats on getting your first MoveIt! pull request merged and improving open source robotics! |
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* Python wrapper: add acceleration_scaling_factor argument to retime_trajectory. * wrap_python_move_group.cpp, move_group.py: add algorithm option to retime_trajectory in pyhon interface of move_group. * moveit_commander: add python_time_parameterization test.
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* Python wrapper: add acceleration_scaling_factor argument to retime_trajectory. * wrap_python_move_group.cpp, move_group.py: add algorithm option to retime_trajectory in pyhon interface of move_group. * moveit_commander: add python_time_parameterization test.
7 tasks
| @@ -489,7 +491,8 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer | |||
| } | |||
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| std::string retimeTrajectory(const std::string& ref_state_str, const std::string& traj_str, | |||
| double velocity_scaling_factor) | |||
| double velocity_scaling_factor, double acceleration_scaling_factor, | |||
| std::string algorithm) | |||
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This has caused a Travis breakage on master, it looks like it got through because this was committed to melodic first, then cherry-picked?
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Thank you. Sorry for the inconvenience.
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Description
Enable to select Time Parametrization Algorithm via
algorithmargument inretime_trajectorymethod of Python MoveGroupCommander.Ref: Time Parametrization Algorithms:
http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/time_parameterization/time_parameterization_tutorial.html#time-parameterization-algorithms
Example use case:
https://github.com/mmurooka/moveit_tutorials/blob/time-parametrization-tutorial-master/demo_rs007n/scripts/demo_adept_motion_rs007n.py#L93-L102
（This PR contains #1506 .）
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