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  /* Author: Ioan Sucan */
  
  #include <moveit/planning_request_adapter/planning_request_adapter.h>
  #include <moveit/trajectory_processing/iterative_time_parameterization.h>
  #include <class_loader/class_loader.hpp>
  #include <ros/console.h>
  
  namespace default_planner_request_adapters
  {
  class AddTimeParameterization : public planning_request_adapter::PlanningRequestAdapter
  {
  public:
    AddTimeParameterization() : planning_request_adapter::PlanningRequestAdapter()
    {
    }
  
    void initialize(const ros::NodeHandle& nh) override
    {
    }
  
    std::string getDescription() const override
    {
      return "Add Time Parameterization";
    }
  
    bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                      const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                      std::vector<std::size_t>& added_path_index) const override
    {
      bool result = planner(planning_scene, req, res);
      if (result && res.trajectory_)
      {
        ROS_DEBUG("Running '%s'", getDescription().c_str());
        if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
                                           req.max_acceleration_scaling_factor))
          ROS_WARN("Time parametrization for the solution path failed.");
      }
  
      return result;
    }
  
  private:
    trajectory_processing::IterativeParabolicTimeParameterization time_param_;
  };
  }  // namespace default_planner_request_adapters
  
  CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeParameterization,
                              planning_request_adapter::PlanningRequestAdapter);
  