Select quantity of waypoints generated in moveit planned trajectory

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It always generates 10 waypoints (included initial and final position).

I have searched in the tutorials and the only reference says that the ompl_planning.yaml configuration should be edited (but doesn't say how).

I searched an example and replicated the configuration to modify the "maximum_waypoint_distance" to 0.5 (for example), but it had no effect. Moveit still generates 10 waypoints per trajectory.

By the way, if it's possible to set this parameter from the C++ interface that would be ideal.

I am running on moveit latest version of the kinetic branch.