Hi all, I noticed that there are three kinds of trajectory processing algorithms in Moveit. The default one is IterativeParabolicTimeParameterization.
I knew this belongs to the TOPP algorithms, but there are many versions of TOPP, generally classified as NI-based and CO-based. Which version is it?? any references about this?

On the other side, if I understand right, Moveit will send the position, velocity, acceleration of the waypoints to the Jointtrajactorycontroller, and the controller will do spline interpolation (cubic or quintic) again.
Does Moveit send the information of all waypoints at the same time like a matrix or send the info of one waypoint separately like an array?
Is it possible that Moveit also sends the parameters of the trajectory processing algorithm so that Jointtrajactorycontroller does not need to do spline interpolation again?

Not sure whether these questions are stupid,,, but just curious..
Thanks for any suggestion!