From 924b9a1d792cccd8245110cf7bf778c00424ae5d Mon Sep 17 00:00:00 2001 From: "David V. Lu!!" Date: Thu, 12 May 2022 14:34:15 -0400 Subject: [PATCH] Tidy up the mess (#1243) --- .../time_optimal_trajectory_generation.h | 2 +- .../src/iterative_spline_parameterization.cpp | 5 +++-- .../src/iterative_time_parameterization.cpp | 5 +++-- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h index b8b6d771ab..b5f35b162a 100644 --- a/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h +++ b/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h @@ -171,7 +171,7 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const std::unordered_map& velocity_limits, - const std::unordered_map& acceleration_limits) const; + const std::unordered_map& acceleration_limits) const override; private: bool doTimeParameterizationCalculations(robot_trajectory::RobotTrajectory& trajectory, diff --git a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp index 8dd0e6c227..c824b416d5 100644 --- a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp +++ b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp @@ -347,8 +347,9 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT } bool IterativeSplineParameterization::computeTimeStamps( - robot_trajectory::RobotTrajectory& trajectory, const std::unordered_map& velocity_limits, - const std::unordered_map& acceleration_limits) const + robot_trajectory::RobotTrajectory& /*trajectory*/, + const std::unordered_map& /*velocity_limits*/, + const std::unordered_map& /*acceleration_limits*/) const { RCLCPP_ERROR(LOGGER, "ISTP does not support this version of computeTimeStamps. Try TOTG instead?"); return false; diff --git a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp index 8ecfed7fcd..0ed8cf94c1 100644 --- a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp +++ b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp @@ -487,8 +487,9 @@ bool IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory: } bool IterativeParabolicTimeParameterization::computeTimeStamps( - robot_trajectory::RobotTrajectory& trajectory, const std::unordered_map& velocity_limits, - const std::unordered_map& acceleration_limits) const + robot_trajectory::RobotTrajectory& /*trajectory*/, + const std::unordered_map& /*velocity_limits*/, + const std::unordered_map& /*acceleration_limits*/) const { RCLCPP_ERROR(LOGGER, "IPTP does not support this version of computeTimeStamps. Try TOTG instead?"); return false;