[choreo] revert making intervals an option

src-core/src/generation/intervals.rs

@@ -49,8 +49,8 @@ pub fn guess_control_interval_counts(
         .iter()
         .enumerate()
         .map(|(i, w)| {
-            if let Some(intervals) = w.intervals {
-                intervals
+            if w.override_intervals {
+                w.intervals
             } else {
                 guess_control_interval_count(i, params, config, w)
             }
@@ -66,7 +66,7 @@ pub fn guess_control_interval_count(
 ) -> usize {
     let next = params.waypoints.get(i + 1);
     match next {
-        None => this.intervals.unwrap_or(40),
+        None => this.intervals,
         Some(next) => {
             let dx = next.x - this.x;
             let dy = next.y - this.y;

src-core/src/generation/transformers/mod.rs

@@ -213,8 +213,8 @@ fn postprocess(result: &[Sample], mut path: TrajFile, counts_vec: Vec<usize>) ->
         .zip(snapshot.waypoints.iter_mut())
         .zip(counts_vec)
         .for_each(|w| {
-            w.0 .0.intervals = Some(w.1);
-            w.0 .1.intervals = Some(w.1);
+            w.0 .0.intervals = w.1;
+            w.0 .1.intervals = w.1;
         });
     // convert the result from trajoptlib to a format matching the save file.
     // Calculate the waypoint timing
@@ -225,7 +225,7 @@ fn postprocess(result: &[Sample], mut path: TrajFile, counts_vec: Vec<usize>) ->
         .enumerate()
         .map(|pt| {
             let total_intervals = interval;
-            interval += pt.1.intervals.unwrap_or(40);
+            interval += pt.1.intervals;
             (
                 pt.1.split || pt.0 == 0 || pt.0 == snapshot.waypoints.len() - 1,
                 total_intervals,

src-core/src/spec/traj.rs

@@ -20,13 +20,15 @@ pub struct Waypoint<T: SnapshottableType> {
     /// Units: radians
     pub heading: T,
     /// The number of control intervals to use between this waypoint and the next.
-    pub intervals: Option<usize>,
+    pub intervals: usize,
     /// Whether to split the trajectory at this waypoint.
     pub split: bool,
     /// TODO
     pub fix_translation: bool,
     /// TODO
     pub fix_heading: bool,
+    /// Whether to override the intervals.
+    pub override_intervals: bool,
     /// Whether this waypoint is an initial guess,
     /// completely invisible to the frontend.
     #[serde(skip, default)]
@@ -44,6 +46,7 @@ impl<T: SnapshottableType> Waypoint<T> {
             split: self.split,
             fix_translation: self.fix_translation,
             fix_heading: self.fix_heading,
+            override_intervals: self.override_intervals,
             is_initial_guess: self.is_initial_guess,
         }
     }