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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Set constraint type in IpoptSolver. #21501

Closed hongkai-dai closed 4 months ago

hongkai-dai commented 4 months ago

Overloads the get_constraints_linearity() function in IPOPT. But IPOPT doesn't call this function, it is only called by BONMIN.

This change is Reviewable

hongkai-dai commented 4 months ago

I will close this PR then, as it won't be much use to us in the immediate future.