This effort adds a check to the execute() function to validate all waypoints are reachable within the given time stamps and all values are within bounds. In case a trajectory is invalid an InvalidTrajectoryExecution is thrown. An optional parameter fix_trajectory should allow reparameterizing invalid trajectories.
henningkayser
commented
5 years ago
This effort adds a check to the execute() function to validate all waypoints are reachable within the given time stamps and all values are within bounds. In case a trajectory is invalid an InvalidTrajectoryExecution is thrown. An optional parameter fix_trajectory should allow reparameterizing invalid trajectories.