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I would:

• Use moveit_cpp. Tutorial here
• Use the Pilz industrial motion planner to plan the circular segment and the line segments individually. Tutorial here
• Manually parse the waypoints and retime them, since you know how fast the robot needs to move

I would:

• Use moveit_cpp. Tutorial here
• Use the Pilz industrial motion planner to plan the circular segment and the line segments individually. Tutorial here
• Manually Write your own functions to parse the waypoints and retime them, since you know how fast the robot needs to move

I would:

• Use moveit_cpp. Tutorial here
• Use the Pilz industrial motion planner to plan the circular segment and the line segments individually. Tutorial here
• Write your own functions to parse the waypoints and retime them, since you know how fast the robot needs to move
• Then combine all the sub-trajectories into one large one.