diff --git a/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp b/moveit_planners/chomp/chomp_interface/src/chomp_planning_context.cpp index 65b7040743..6a2d2f2eb9 100644 --- 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 #include -#include #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 index e9378a6a2e..ed18a603ba 100644 --- 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 #include #include -#include #include #include 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 index 01d349cf39..7bd16cfe67 100644 --- 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 #include #include -#include +#include namespace { @@ -179,7 +179,7 @@ bool MoveGroupCartesianPathService::computeService(const std::shared_ptrsolution); 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 index daecf33de4..a4de8e94a6 100644 --- 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 #endif -#include +#include #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_