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The process of converting Paths to Trajectories is what the BaseLocalPlanners do.

The process of converting Paths to Trajectories is what the BaseLocalPlanners do.

Edit: Sorry, I misunderstood the question at first. Converting Paths to Twist Commands is what BaseLocalPlanners do.

In general you cannot convert arbitrary paths to Trajectories since a trajectory is the result of applying a certain velocity command for a given period of time. Paths can be arbitrarily complicated, and therefore cannot be translated to Trajectories. What is it you are trying to do with the Paths?

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