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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[GcsTrajOpt] Support symbolic eval of nonconvex derivative constraints #21505

Closed RussTedrake closed 2 weeks ago

RussTedrake commented 1 month ago

It turns out this was helpful for debugging, even if the primary workflow doesn't use it.

+@wrangelvid for feature review, please.

This change is Reviewable

jwnimmer-tri commented 2 weeks ago

FYI The only blocker is this:

LGTM missing from assignee wrangelvid.

Russ, if you think that's and oversight rather than being incomplete, feel free to force this in anyway.