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CHOMP motion planner cleanup of unused parameters and code + addition…
… of trajectory initialization methods (linear, cubic, quintic-spline) (moveit#960) * added options for trajectory initialization using (linear, cubic) interpolation in addition to quintic-spline, this can be specified in the chomp_planning.yaml file as a string parameter * removed/cleaned redundant commented code from chomp_optimizer.cpp file * commented print statements * removed unused CHOMP parameters code * applied clang-format and addressed comments * applied clang-format and addressed comments * added PR suggested revies/changes * removed usused 2 lines * generating chomp_planning.yaml and chomp_planning_pipeline.launch.xml from the moveit setup assistant * restored CHOMP, hamiltonian monte carlo (HMC) based code and commented it * applied clang format
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