Make path times public.

[jess-moss]

Fixes #

Changes in this PRs:

Checklists:

• Update HISTORY.md with a single line describing this PR

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This change is 

[jess-moss]

Per Issue #187

Reviewable status: 0 of 1 files reviewed, 1 unresolved discussion (waiting on @jess-moss and @jmirabel)

[jess-moss]

Reviewable status: 0 of 1 files reviewed, 1 unresolved discussion (waiting on @jmirabel)

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cpp/src/toppra/parametrizer/const_accel.hpp, line 19 at r1 (raw file):

Previously, jmirabel (Joseph Mirabel) wrote…

  const Vector& getTs() { return m_ts; }

Done.

[jmirabel]

Per Issue #187

Thanks for pointing the issue. It made me realize I overlooked the changes. The prototype should be const Vector getTimes() const so two additional changes:

• const to help the compiler (although it should be able to understand it)
• function name change to try to stick to the naming convention followed elsewhere in this lib (and Ts is a little obscure).

[jess-moss]

Thank you for reviewing this! I need this function to gain access to these times while using toppra, so this will be very helpful.

Reviewable status: 0 of 1 files reviewed, 1 unresolved discussion (waiting on @jmirabel)

[jmirabel]

Thanks. I have a few more comments.

[jess-moss]

Reviewable status: 0 of 3 files reviewed, 3 unresolved discussions (waiting on @jmirabel)

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cpp/src/toppra/parametrizer.hpp, line 55 at r3 (raw file):

Previously, jmirabel (Joseph Mirabel) wrote…

    /** \brief Return the waypoints time.
   */
   virtual const Vector& getTimes() const = 0;

Done.

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cpp/src/toppra/parametrizer/const_accel.hpp, line 19 at r3 (raw file):

Previously, jmirabel (Joseph Mirabel) wrote…

  const Vector& getTimes() const override { return m_ts; }

Why final ? I think override is sufficient here. It is fine if a child class overrides this.

I made it final because I could not foresee an instance when a child class would want to override this function, and didn't want a child class to do so accidentally. I can change it to overrideif you think that is fine!

[jess-moss]

Thank you!

Reviewable status: 0 of 3 files reviewed, 3 unresolved discussions (waiting on @jmirabel)

[jess-moss]

Reviewable status: 0 of 3 files reviewed, 3 unresolved discussions (waiting on @jmirabel)

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cpp/src/toppra/parametrizer.hpp, line 55 at r3 (raw file):

Previously, jess-moss wrote…

Done.

@jmirabel Would it be possible to resolve this comment?

[hungpham2511]

Hi @jess-moss, thanks for the PR! Could you also add a line to the changelog?

Thanks @jmirabel for the review. The PR looks good to me; I will be happy to merge once all comments are resolved.

[jess-moss]

Just updated the changelog! Thank you!

Reviewable status: 0 of 4 files reviewed, 3 unresolved discussions (waiting on @jmirabel)