Identify programmer errors earlier in Costs and Constraints

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Identify programmer errors earlier in Costs and Constraints #13312

Open EricCousineau-TRI opened 4 years ago

EricCousineau-TRI commented 4 years ago

See discussion: https://github.com/RobotLocomotion/drake/issues/13181#issuecomment-626646662

Jeremy's summary of the discussion: If a developer makes an error in implementing or binding a Constraint or Cost in a mathematical program, often any error message is deferred until Solve() time and is difficult to chase down. We should try to provide earlier and better diagnostics while working with mathematical programs.

EricCousineau-TRI commented 4 years ago

@hongkai-dai I've assigned this to you for now. Please feel free to reassign as you see fit!

\cc @jwnimmer-tri