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cherry-pick #441: Iterative cubic spline #853

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gavanderhoorn commented Apr 20, 2018

cherry-pick of #441 for Indigo.

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gavanderhoorn commented Apr 20, 2018

As discussed in #441 (comment).

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gavanderhoorn commented Apr 20, 2018

Note that this plugin prints the same "Add Time Parameterization" as the regular IPTP (here), which I found confusing.

I might submit a PR to change that.

@gavanderhoorn gavanderhoorn referenced this pull request May 17, 2018

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Release 201805 #886

1 of 2 tasks complete
Iterative cubic spline (#441)
* adding iterative spline time parameterization

* add 2nd and 2nd-last points

* move added points near endpoints, but not exactly the same.  Fix math error.

* add jerk comment

* clang-formatting

* prevent divide-by-zero. Fix out-of-bounds array write

* fix variables

* off by one error.  change default limits

* comments

* fix for setting waypoint durations

* comments

* add time parameterization unit test

* styling

* add compile-time option to disable jerk

* allow jerk to be enabled/disabled at runtime

* make requested changes, the biggest of which is allowing for min and max constraints

* add duration check to unit test

* set default acceleration to 1.0

* fix class name

* add migration notes

* whitespace styling

* set waypoint velocities/accelerations when unset.  Increase default jerk limit.  Modify test case to catch this.

* improved handling of unspecified initial/final velocities/accelerations

* change 0.01 constant to epsilon()

* simplify tests

* styling

* Remove jerk, as it causes oscillations

@gavanderhoorn gavanderhoorn force-pushed the gavanderhoorn:spline_iptp branch from 1209d1e to c9ffba7 May 27, 2018

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gavanderhoorn commented May 27, 2018

Took a look at the failing test, but I'm not entirely sure I get why the build fails: the header file seems to be included and the symbol/method is present (in Indigo):

/catkin_ws/src/moveit/moveit_core/trajectory_processing/test/test_time_parameterization.cpp: In function ‘void printTrajectory(robot_trajectory::RobotTrajectory&)’:
/catkin_ws/src/moveit/moveit_core/trajectory_processing/test/test_time_parameterization.cpp:146:54: error: ‘class robot_trajectory::RobotTrajectory’ has no member named ‘getWayPointDurationFromStart’
   std::cout << "trajectory length is " << trajectory.getWayPointDurationFromStart(count - 1) << " seconds."
                                                      ^
...

This repeats a few times. First time is here.

RobotTrajectory::getWayPointDurationFromStart(..) in Indigo is there: here. Test added by this PR seems to include the correct header: here.

Code itself compiles fine. Not sure what is going on.

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gavanderhoorn commented Nov 5, 2018

Closing this as I don't have time to fix it and I believe the "last Indigo release" was recently done.

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