Reuse mathematical program when computing pairwise intersections between g-convex sets.

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Reuse mathematical program when computing pairwise intersections between g-convex sets. #21592

Closed cohnt closed 4 days ago

cohnt commented 1 week ago

As discussed in #20700, the API to remove variables from a mathematical program allows us to reuse a mathematical program when checking many pairs of sets for intersections.

+@sadraddini for feature review, please!

This change is