def _get_time_bw_poses(pose0, pose1, velocity=0.2):
'''Determines how much time should be allowed for moving between
pose0 and pose1 at velocity.
Args:
pose0 (Pose)
pose1 (Pose)
velocity (float, optional): Defaults to 0.2.
Returns:
float: How long (in seconds) to allow for moving between
pose0 and pose1 and velocity.
'''
dist = Arm.get_distance_bw_poses(pose0, pose1)
duration = dist / velocity
return (
DURATION_MIN_THRESHOLD if duration < DURATION_MIN_THRESHOLD
else duration)
