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CHOMP motion planner cleanup of unused parameters and code + addition of trajectory initialization methods (linear, cubic, quintic-spline) #960
CHOMP Motion planner cleanup of code and new trajectory initialization methods
This pull request is a part of Google summer of code 2018 work by Raghavender Sahdev. This pull request removes any unused parameters and code for the CHOMP planner. It also has the code from Pull request #899.