Make path times public.

HISTORY.md

@@ -5,6 +5,7 @@
 - [cpp] Minor PR to make the cpp part compiles on windows64 (msvc). Thanks @ahoarau.
 - [cpp] Fixed out of bounds issue in parametrizer::ConstAccel.
 - [cpp] Fixed incorrect variable bug in seidel solver.
+- [cpp] [#187] Expose waypoint times in parametizers.
 - [python] Fix linting error that causes CI failure
 - [ci] Do integration testing in gh action instead of circle CI
 - [ci] Remove Circle CI and use Github Action for all testings

cpp/src/toppra/parametrizer.hpp

@@ -52,6 +52,10 @@ class Parametrizer : public GeometricPath {
 
   virtual ~Parametrizer() {}
 
+  /** \brief Return the waypoint times.
+   */
+  virtual const Vector& getTimes() const = 0;
+
  protected:
   // Input geometric path
   GeometricPathPtr m_path;

cpp/src/toppra/parametrizer/const_accel.hpp

@@ -16,6 +16,8 @@ class ConstAccel : public Parametrizer {
  public:
   ConstAccel(GeometricPathPtr path, const Vector &gridpoints, const Vector &vsquared);
 
+  const Vector& getTimes() const override { return m_ts; }
+
  private:
   /** Return joint derivatives at specified times. */
   Vectors eval_impl(const Vector &times, int order = 0) const override;

cpp/src/toppra/parametrizer/spline.hpp

@@ -27,6 +27,9 @@ class Spline: public Parametrizer {
      * @param vsquared the path velocity squared with shape (N+1,).
     */
     Spline(GeometricPathPtr path, const Vector &gridpoints, const Vector &vsquared);
+
+    const Vector& getTimes() const override { return m_ts; }
+
 private:
     /** Return joint derivatives at specified times. */
     Vectors eval_impl(const Vector &times, int order = 0) const override;