Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

added time_optimize parameter to GetCartesianPath.srv for optional time optimization #179

Open
wants to merge 1 commit into
base: humble
Choose a base branch
from
Open

added time_optimize parameter to GetCartesianPath.srv for optional time optimization #179

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions srv/GetCartesianPath.srv
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,9 @@ bool avoid_collisions
# Specify additional constraints to be met by the Cartesian path
Constraints path_constraints

# 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.
Copy link

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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.

bool time_optimize
Copy link

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

As discussed in the main PR, consider renaming this. Otherwise this is good to go 👍


---

# The state at which the computed path starts
Expand Down
Loading