I have a scenario where I'm generating multiple trajectories (by solving KinematicTrajectoryOptimization problems), and then want to stitch them together into a single long trajectory. However, the start and end times might not line up, so the CompositeTrajectory constructor throws. This provides a convenient class to retime the start and end of each segment, so they align properly.
Not sure who makes sense for this PR -- feel free to assign anyone.
I have a scenario where I'm generating multiple trajectories (by solving KinematicTrajectoryOptimization problems), and then want to stitch them together into a single long trajectory. However, the start and end times might not line up, so the CompositeTrajectory constructor throws. This provides a convenient class to retime the start and end of each segment, so they align properly.
Not sure who makes sense for this PR -- feel free to assign anyone.
This change is