remove use_joint_limits

mechwiz · Dec 26, 2022 · adb0d55 · adb0d55
1 parent e86f6ae
commit adb0d55
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Showing 3 changed files with 8 additions and 24 deletions.
diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
@@ -116,21 +116,14 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
 		result->addSuffixWayPoint(waypoint, 0.0);
 
 	auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
-
-	if (joint_limits.size() > 0)
-		timing->computeTimeStamps(*result, joint_limits);
-	else
-		timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
-		                          props.get<double>("max_acceleration_scaling_factor"));
+	timing->computeTimeStamps(*result, joint_limits, props.get<double>("max_velocity_scaling_factor"),
+	                          props.get<double>("max_acceleration_scaling_factor"));
 
 	// smoothing
 	if (apply_ruckig_smoothing) {
 		trajectory_processing::RuckigSmoothing ruckig_smoothing;
-		if (joint_limits.size() > 0)
-			ruckig_smoothing.applySmoothing(*result, joint_limits);
-		else
-			ruckig_smoothing.applySmoothing(*result, props.get<double>("max_velocity_scaling_factor"),
-			                                props.get<double>("max_acceleration_scaling_factor"));
+		ruckig_smoothing.applySmoothing(*result, joint_limits, props.get<double>("max_velocity_scaling_factor"),
+		                                props.get<double>("max_acceleration_scaling_factor"));
 	}
 
 	return achieved_fraction >= props.get<double>("min_fraction");

diff --git a/core/src/solvers/joint_interpolation.cpp b/core/src/solvers/joint_interpolation.cpp
@@ -97,21 +97,14 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
 		return false;
 
 	auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
-
-	if (joint_limits.size() > 0)
-		timing->computeTimeStamps(*result, joint_limits);
-	else
-		timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
-		                          props.get<double>("max_acceleration_scaling_factor"));
+	timing->computeTimeStamps(*result, joint_limits, props.get<double>("max_velocity_scaling_factor"),
+	                          props.get<double>("max_acceleration_scaling_factor"));
 
 	// smoothing
 	if (apply_ruckig_smoothing) {
 		trajectory_processing::RuckigSmoothing ruckig_smoothing;
-		if (joint_limits.size() > 0)
-			ruckig_smoothing.applySmoothing(*result, joint_limits);
-		else
-			ruckig_smoothing.applySmoothing(*result, props.get<double>("max_velocity_scaling_factor"),
-			                                props.get<double>("max_acceleration_scaling_factor"));
+		ruckig_smoothing.applySmoothing(*result, joint_limits, props.get<double>("max_velocity_scaling_factor"),
+		                                props.get<double>("max_acceleration_scaling_factor"));
 	}
 
 	return true;

diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -181,7 +181,6 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
 	req.path_constraints = path_constraints;
 
 	req.joint_limits = joint_limits;
-	req.use_joint_limits = joint_limits.size() > 0;
 
 	req.skip_smoothing = !apply_ruckig_smoothing;
 
@@ -213,7 +212,6 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
 	req.path_constraints = path_constraints;
 
 	req.joint_limits = joint_limits;
-	req.use_joint_limits = joint_limits.size() > 0;
 
 	req.skip_smoothing = !apply_ruckig_smoothing;