What are the SimplePlanner profiles?

[rjoomen]

I was wondering what the SimplePlanner profiles exactly do. I couldn't find documentation, only a suggestion by @Levi-Armstrong somewhere to use the SimplePlannerFixedSizeAssignPlanProfile to solve a difficult planning problem.

simple_planner_fixed_size_assign_plan_profile.h
SimplePlannerFixedSizeAssignPlanProfile

simple_planner_fixed_size_plan_profile.h
SimplePlannerFixedSizePlanProfile

simple_planner_lvs_no_ik_plan_profile.h
SimplePlannerLVSNoIKPlanProfile

simple_planner_lvs_plan_profile.h
SimplePlannerLVSPlanProfile

simple_planner_profile.h
SimplePlannerPlanProfile

[Levi-Armstrong]

The simple planner is used to interpolate a input trajectory to create a new trajectory which meets the interpolation criteria defined in the profiles.