Add Expression Costs and Formula Constraints to EdgesBetweenSubgraphs in GcsTrajectoryOptimization #22155
Conversation
There was a problem hiding this comment.
Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status: 1 unresolved discussion, LGTM missing from assignee rpoyner-tri(platform)
planning/trajectory_optimization/test/gcs_trajectory_optimization_test.cc line 2833 at r1 (raw file):
auto edge_durations = edges.edge_constituent_vertex_durations(); unused(kTol);
not needed?
There was a problem hiding this comment.
Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status: 1 unresolved discussion
… in GcsTrajectoryOptimization.
cohnt
force-pushed
the
gcstrajopt-edgesbetweensubgraphs-costs-constraints
branch
from
433b6e8 to
4ffea57
Compare
There was a problem hiding this comment.
Reviewable status: 1 unresolved discussion, labeled "do not merge" (waiting on @cohnt)
planning/trajectory_optimization/test/gcs_trajectory_optimization_test.cc line 2833 at r1 (raw file):
Previously, RussTedrake (Russ Tedrake) wrote…
not needed?
Done.
There was a problem hiding this comment.
Reviewed 1 of 1 files at r2, all commit messages.
Reviewable status: 1 unresolved discussion
There was a problem hiding this comment.
Dismissed @RussTedrake from a discussion.
Reviewable status:complete! all discussions resolved, LGTM from assignees rpoyner-tri(platform),RussTedrake(platform)
… in GcsTrajectoryOptimization. (RobotLocomotion#22155)
Towards #21981. Adds placeholder variables to EdgesBetweenSubgraphs that can be used to construct costs and constraints to each edge.
+@RussTedrake for feature review, please! cc @wrangelvid
This change is