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Stomp Smoothing Planning Request Adapter #1081
Addition of STOMP Smoothing Adapter in MoveIt
This PR is work done by Raghavender as a part of 2018 Google summer of code. As a part of this PR, a STOMP Smoothing adapter has been implemented. This enables the user to use STOMP as an additional post processing motion planning algorithm in a pipeline with another motion planner like CHOMP, OMPL, etc. This then produces smooth motion plans.
For tutorials on how to use this motion planning request adapter, refer to PR for a tutorial on Planning Request Adapters PR#220 . This PR also needs this PR in industrial_moveit package to be merged PR#78 in order for the STOMP smoothing adapter to function properly.