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Remove Iterative Spline and Iterative Parabola time-param algorithms #1191

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Remove Iterative Spline and Iterative Parabola time-param algorithms #1191

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2a10d85
Iterative parabolic parameterization fails for nonzero initial/final …
Apr 21, 2022
1e86575
Iterative spline parameterization fails, too
Apr 21, 2022
d46389a
Delete Iterative Spline & Iterative Parabola algorithms
Apr 21, 2022
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6 changes: 0 additions & 6 deletions moveit_core/trajectory_processing/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,8 +1,6 @@
set(MOVEIT_LIB_NAME moveit_trajectory_processing)

add_library(${MOVEIT_LIB_NAME} SHARED
src/iterative_time_parameterization.cpp
src/iterative_spline_parameterization.cpp
src/ruckig_traj_smoothing.cpp
src/trajectory_tools.cpp
src/time_optimal_trajectory_generation.cpp
Expand Down Expand Up @@ -34,10 +32,6 @@ if(BUILD_TESTING)
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../robot_trajectory;${CMAKE_CURRENT_BINARY_DIR}/../utils")
endif()

ament_add_gtest(test_time_parameterization test/test_time_parameterization.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_time_parameterization moveit_test_utils ${MOVEIT_LIB_NAME})

ament_add_gtest(test_time_optimal_trajectory_generation test/test_time_optimal_trajectory_generation.cpp)
target_link_libraries(test_time_optimal_trajectory_generation moveit_test_utils ${MOVEIT_LIB_NAME})

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84 changes: 0 additions & 84 deletions ...ctory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
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68 changes: 0 additions & 68 deletions ...jectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
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