rmv return_data flag
@@ -149,14 +149,6 @@ class ParameterizationAlgorithm(object):
self._problem_data = {'sdd': sdd_grid, 'sd': sd_grid, 'v': v_grid, 'K': K}
if self.path.waypoints is not None:
- t_waypts = np.interp(self.path.get_waypoints()[0], gridpoints, t_grid)
+ t_waypts = np.interp(self.path.waypoints[0], gridpoints, t_grid)
self._problem_data.update({'t_waypts': t_waypts})
-
- if return_data:
- # NOTE: the time stamps for each (original) waypoint are
- # evaluated by interpolating the grid points.
- t_waypts = np.interp(self.path.get_waypoints()[0], gridpoints, t_grid)
- return traj_spline, v_spline, {'sdd': sdd_grid, 'sd': sd_grid,
- 'v': v_grid, 'K': K, 't_waypts': t_waypts}
- else:
return traj_spline, v_spline
