[GCS] Support use_in_transcription in AddCost.

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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[GCS] Support use_in_transcription in AddCost. #21650

Closed RussTedrake closed 1 day ago

RussTedrake commented 3 days ago

PR #21179 introduced the ability for constraints in GCS to be applied to subsets of the possible transcriptions. This PR is the follow-up which provides the same functionality when adding costs.

+@wrangelvid for feature review, please.

This change is