Make TOTG the default time-parameterization algorithm everywhere (#1218)

Co-authored-by: Jafar <cafer.abdi@gmail.com>
moveit · May 10, 2022 · 4ace026 · 4ace026
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commit 4ace026
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Showing 4 changed files with 6 additions and 8 deletions.
diff --git a/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp b/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp
@@ -36,7 +36,6 @@
 
 #include <chomp_interface/chomp_planning_context.h>
 #include <moveit/robot_state/conversions.h>
-#include <moveit/trajectory_processing/iterative_time_parameterization.h>
 
 #include "rclcpp/rclcpp.hpp"
 

diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp b/moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp
@@ -40,7 +40,6 @@
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/planning_request_adapter/planning_request_adapter.h>
 #include <moveit/robot_state/conversions.h>
-#include <moveit/trajectory_processing/iterative_time_parameterization.h>
 #include <moveit/trajectory_processing/trajectory_tools.h>
 
 #include <eigen3/Eigen/Core>

diff --git a/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
@@ -49,7 +49,7 @@
 #include <moveit/robot_state/robot_state.h>
 #include <moveit/robot_state/cartesian_interpolator.h>
 #include <moveit_msgs/msg/display_trajectory.hpp>
-#include <moveit/trajectory_processing/iterative_time_parameterization.h>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
 namespace
 {
@@ -179,7 +179,7 @@ bool MoveGroupCartesianPathService::computeService(const std::shared_ptr<rmw_req
 
           // time trajectory
           // \todo optionally compute timing to move the eef with constant speed
-          trajectory_processing::IterativeParabolicTimeParameterization time_param;
+          trajectory_processing::TimeOptimalTrajectoryGeneration time_param;
           time_param.computeTimeStamps(rt, 1.0);
 
           rt.getRobotTrajectoryMsg(res->solution);

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -48,7 +48,7 @@
 #else
 #include <tf2_eigen/tf2_eigen.h>
 #endif
-#include <moveit/trajectory_processing/iterative_time_parameterization.h>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
 #include "ui_motion_planning_rviz_plugin_frame.h"
 
@@ -156,9 +156,9 @@ bool MotionPlanningFrame::computeCartesianPlan()
     // https://groups.google.com/forum/#!topic/moveit-users/MOoFxy2exT4
     robot_trajectory::RobotTrajectory rt(move_group_->getRobotModel(), move_group_->getName());
     rt.setRobotTrajectoryMsg(*move_group_->getCurrentState(), trajectory);
-    trajectory_processing::IterativeParabolicTimeParameterization iptp;
-    bool success =
-        iptp.computeTimeStamps(rt, ui_->velocity_scaling_factor->value(), ui_->acceleration_scaling_factor->value());
+    trajectory_processing::TimeOptimalTrajectoryGeneration time_parameterization;
+    bool success = time_parameterization.computeTimeStamps(rt, ui_->velocity_scaling_factor->value(),
+                                                           ui_->acceleration_scaling_factor->value());
     RCLCPP_INFO(LOGGER, "Computing time stamps %s", success ? "SUCCEEDED" : "FAILED");
 
     // Store trajectory in current_plan_