Refactored trajectory timing check into utility function.

Author: psigen

src/prpy/base/robot.py

@@ -459,8 +459,7 @@ def ExecuteTrajectory(self, traj, defer=False, timeout=None, period=0.01, **kwar
 
         # Verify that the trajectory is timed by checking whether the first
         # waypoint has a valid deltatime value.
-        cspec = traj.GetConfigurationSpecification()
-        if cspec.ExtractDeltaTime(traj.GetWaypoint(0)) is None:
+        if not util.IsTimedTrajectory(traj):
             raise ValueError('Trajectory cannot be executed, it is not timed.')
 
         # Verify that the trajectory has non-zero duration.

src/prpy/util.py

@@ -735,3 +735,17 @@ def IsAtTrajectoryStart(robot, trajectory):
 
     # If all joints match, return True.
     return True
+
+
+def IsTimedTrajectory(trajectory):
+    """
+    Returns True if the trajectory is timed.
+
+    This function checks whether a trajectory has a valid `deltatime` group,
+    indicating that it is a timed trajectory.
+
+    @param trajectory: an OpenRAVE trajectory
+    @returns: True if the trajectory is timed, False otherwise
+    """
+    cspec = trajectory.GetConfigurationSpecification()
+    return cspec.ExtractDeltaTime(trajectory.GetWaypoint(0)) is not None