added time_optimize parameter to GetCartesianPath.srv for optional time optimization #179
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…me optimization during cartesian path planning
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belongs to moveit/moveit2#2874 |
sjahr
reviewed
Jul 5, 2024
| @@ -43,6 +43,9 @@ bool avoid_collisions | |||
| # Specify additional constraints to be met by the Cartesian path | |||
| Constraints path_constraints | |||
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| # Set to false if you want to disable time optimization of the trajectory, specifically helpful if you have other shapes than linear moves and want to keep the original shape. | |||
| bool time_optimize | |||
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As discussed in the main PR, consider renaming this. Otherwise this is good to go 👍
| @@ -43,6 +43,9 @@ bool avoid_collisions | |||
| # Specify additional constraints to be met by the Cartesian path | |||
| Constraints path_constraints | |||
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| # Set to false if you want to disable time optimization of the trajectory, specifically helpful if you have other shapes than linear moves and want to keep the original shape. | |||
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Suggested change
| # Set to false if you want to disable time optimization of the trajectory, specifically helpful if you have other shapes than linear moves and want to keep the original shape. | |
| # Set to false if you want to disable trajectory generation, specifically helpful if you have other shapes than linear moves and want to keep the original shape. |
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This modification is essential to enable the option to disable time optimization during Cartesian Path planning.
This capability is particularly important for applications involving nonlinear Cartesian paths with multiple waypoints and turns.