Question about the Roman \'wedge formation\'

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Please don't think I am suggesting that there was no command and control on the battlefield hock: . Of course battles had to be planned and centurions to be given orders on what they were required to do/achieve.

But in the context of the wedge - a "hasty" tactic in modern parlance - the question remains was it on the initiative of the centurion to conduct this formation (briefed before hand to take the opportunity should it arise?) OR was it ordered centrally, relayed by the force/overall commander.

...and if it was ordered centrally, would the order be understood by all centuria/cohorts sufficiently well/efficiently enough to change the entire battle front into the type of formation depicted in the video clips and make a "saw tooth"?

I am sure that across time the addage of no plan succeeding contact with the enemy is just as relevant as it always has been