Rationale to move planned trajectory outside of the Action Class
Clarify that the Action is the input and the trajectory is a output (from the perspective of planning)
Allow a single action to have multiple planned results which can all coexist.
Details
The class will be a redesign of the current Trajectory class. Probabaly renamed to ActionPlanResult.
It will contain the planned JointTrajectory, as well as any planning request attributes (determined by the Action Type) and statistics (supplied by the planner backend).
My plan is to have one single class that will work with all RobotMotion inhereted classes.
Feature Request
Rationale to move planned trajectory outside of the Action Class
Details
The class will be a redesign of the current
Trajectoryclass. Probabaly renamed toActionPlanResult. It will contain the planned JointTrajectory, as well as any planning request attributes (determined by the Action Type) and statistics (supplied by the planner backend).My plan is to have one single class that will work with all RobotMotion inhereted classes.