PILZ adjust cartesian interpolation

[MarcoMagriDev]

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Description

#3292

• [x] Added interpolation parameters
• [x] Sampled the trajectory using a uniform sampling_time computed from the equivalent rectangular motion profile (see this comment)
• [x] Adjusted sampling_time so that all points are equally spaced, including the last one
• [x] Modified pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow to no longer require sampling_time to be equal and uniform across the trajectories to be blended
• [x] add tests

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Codecov Report

Attention: Patch coverage is 0% with 11 lines in your changes missing coverage. Please review.

Project coverage is 0.00%. Comparing base (9922704) to head (b25497e). Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...strial_motion_planner/src/trajectory_functions.cpp	0.00%	11 Missing :warning:

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Additional details and impacted files

@@            Coverage Diff             @@
##             main   #3330       +/-   ##
==========================================
- Coverage   45.60%   0.00%   -45.59%     
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  Files         716     566      -150     
  Lines       62443   51174    -11269     
  Branches     7558    6832      -726     
==========================================
- Hits        28471       0    -28471     
- Misses      33805   51174    +17369     
+ Partials      167       0      -167     

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[MarcoMagriDev]

@rr-mark thanks for your quick review

I will answer to each review separately.

---

Note that I am still working (on another branch) trying to develop the non constant sampling time on the LIN trajectory. See Problem 2. The solution is not to change how velocity and acceleration accelerations are computed instead sampling the path at non constant sample time in order to ensure that points are distant enought for the numerical IK solver. I am also adding some new tests for this PR

EDIT: here you can find a PR that tries to address the above mentioned problem. As soon as we agree to this version I can integrate those changes here or in another PR to start the discussion

[github-actions[bot]]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[Danilrivero]

Just wanted to kindly check in on the status of this PR. It looks like a great contribution and I was back at it just recently. I was wondering if there’s anything blocking it or if there’s any way I can help move it forward. Totally understand if things have just been busy — no pressure at all!

[github-actions[bot]]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.