RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[solvers] Hoist semidefinite relaxation code from anon to internal #21585

Closed jwnimmer-tri closed 1 week ago

jwnimmer-tri commented 1 week ago

This is prep work for #21500, to make the code review more practical.

The first commit is only moving some functions from one file to another, with the minimal changes -- splitting declaration out from definition, adding namespace qualifiers instead of leaning on using, and fixing includes. The second commit fixes some GSG defects in the moved code.

The two commit split is just to aid in the review. We'll plan to squash this into master.

+@rpoyner-tri for both reviews per schedule, please.


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