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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Refactor IRIS variants (making a single IRIS entry point) #21821

Open RussTedrake opened 2 months ago

RussTedrake commented 2 months ago

As discussed in this doc, we've sprouted a number of variants of the basic IRIS algorithm... they are strewn throughout the codebase and a bit hard to find.

Based on a standup discussion following that document, our current plan is to have a single IRIS entry point which dispatches to the proper variant based on the IrisOptions.

RussTedrake commented 2 months ago

Goal is to add this to the planning/iris subdirectory (not geometry/optimization)