refactored the base toolpath planning class to use as a parent for other toolpath planners
implemented ompl planner that does direct planning It doesn't currently send a constraint with the plan request
Trajectory utils:
interpolation of vector of poses (or posestamped) using linear interpolation for translation component and slerp for rotation.
retiming of joint trajectories for a "constant" velocity
refactored the base toolpath planning class to use as a parent for other toolpath planners implemented ompl planner that does direct planning It doesn't currently send a constraint with the plan request Trajectory utils: